MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

17.2s

Avg test time

100%

Objective pass rate

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5 pass

✓ passed	—	test_base_link_has_single_tf_parent	24.0s	6 errors · 324 warnings · 1792 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/2026-11-04-01-19-17-438962-45dd05a4a2dd-8048 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.30sINFOstatic_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' + 4.31sINFOstatic_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' + 4.32sINFOstatic_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' + 4.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.40sINFOmap_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. + 4.40sINFOmap_serverCreating + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.41sINFOcontroller_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. + 4.42sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.42sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.46sINFOcontroller_serverCreating controller server + 4.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.47sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.47sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.47sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.49sINFOlocal_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. + 4.50sINFOlocal_costmap.local_costmapCreating Costmap + 4.51sINFOlifecycle_manager_localizationCreating + 4.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.52sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.53sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.53sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.53sINFOmap_serverConfiguring + 4.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.56sINFOsmoother_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. + 4.58sINFOsmoother_serverCreating smoother server + 4.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.60sINFOstate_estimatorReceived a set_pose request (stamp: 1793755163840384609, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.62sINFOros2_control_node-13process started with pid [8213] ×2 + 4.63sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.63sINFOmove_group-25process started with pid [8274] ×2 + 4.63sINFOamclConfiguring + 4.63sINFOparameter_manager_node-26process started with pid [8276] ×2 + 4.63sINFOwaypoint_manager_node-27process started with pid [8278] ×2 + 4.63sINFOmove_joint_resampler_node-28process started with pid [8282] ×2 + 4.63sINFOmove_end_effector_resampler_node-29process started with pid [8283] ×2 + 4.63sINFOobjective_server_node_main-30process started with pid [8285] ×2 + 4.63sINFOcomponent_container_mt-31process started with pid [8286] ×2 + 4.63sINFOcomponent_container_mt-32process started with pid [8287] ×2 + 4.63sINFOexecute_objective_bridge-33process started with pid [8292] ×2 + 4.63sINFOui_teleop_bridge-34process started with pid [8297] ×2 + 4.63sINFOweb_bridge-35process started with pid [8302] ×2 + 4.63sINFOtf_visualization_relay-36process started with pid [8304] ×2 + 4.63sINFOjoint_state_visualization_relay-37process started with pid [8305] ×2 + 4.64sINFOtf2_web_republisher_node-38process started with pid [8306] ×2 + 4.64sINFOvideo_server-39process started with pid [8307] ×2 + 4.64sINFOweb_bridge_auth_proxy-40process started with pid [8309] ×2 + 4.64sINFOweb_video_auth_proxy-41process started with pid [8311] ×2 + 4.64sINFOplanner_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. + 4.65sINFOcomponent_container_isolated-1process started with pid [8098] ×2 + 4.65sINFOcomponent_container_isolated-2process started with pid [8099] ×2 + 4.65sINFOstatic_transform_publisher-3process started with pid [8100] ×2 + 4.65sINFOodom_world_drift-4process started with pid [8101] ×2 + 4.65sINFOlidar_flattener.py-5process started with pid [8102] ×2 + 4.65sINFOstatic_transform_publisher-6process started with pid [8103] ×2 + 4.65sINFOstatic_transform_publisher-7process started with pid [8104] ×2 + 4.65sINFOscan_to_scan_filter_chain-8process started with pid [8105] ×2 + 4.65sINFOscan_to_scan_filter_chain-9process started with pid [8106] ×2 + 4.65sINFOrelay-10process started with pid [8210] ×2 + 4.65sINFOrelay-11process started with pid [8211] ×2 + 4.65sINFOfixed_lag_smoother_node-12process started with pid [8212] ×2 + 4.65sINFOros2-14process started with pid [8214] ×2 + 4.65sINFOros2-15process started with pid [8215] ×2 + 4.65sINFOros2-16process started with pid [8216] ×2 + 4.65sINFOros2-17process started with pid [8217] ×2 + 4.65sINFOros2-18process started with pid [8218] ×2 + 4.65sINFOros2-19process started with pid [8219] ×2 + 4.65sINFOros2-20process started with pid [8220] ×2 + 4.65sINFOros2-21process started with pid [8225] ×2 + 4.65sINFOros2-22process started with pid [8226] ×2 + 4.65sINFOros2-23process started with pid [8243] ×2 + 4.65sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.65sINFOmap_serverActivating + 4.66sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.66sINFOros2-24process started with pid [8247] ×2 + 4.67sINFOcontroller_managerupdate rate is 600 Hz + 4.67sINFOcontroller_managerOverruns handling is : enabled + 4.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.67sWARNcontroller_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. + 4.68sINFOplanner_serverCreating + 4.71sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.71sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.71sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.71sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020215 ms (missed cycles : 4). + 4.71sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.71sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.72sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.72sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.72sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.72sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.72sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.73sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.73sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.73sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.73sINFOglobal_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. + 4.73sWARNros2_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 + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020215 ms (missed cycles : 4).[0m ×2 + 4.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.74sINFOglobal_costmap.global_costmapCreating Costmap + 4.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.77sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.77sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.77sINFOamclActivating + 4.77sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.78sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.79sINFObehavior_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. + 4.80sINFOamclSubscribed to map_topic: /map + 4.80sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.80sINFOamclCreated reinitialize_global_localization service + 4.80sINFOamclCreated request_nomotion_update service + 4.80sINFOamclA new map was received + 4.80sINFOamclInitializing particle filter instance + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.93sINFObt_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. + 4.98sINFObt_navigatorCreating + 4.98sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.98sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.01sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.06sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.07sINFOwaypoint_followerCreating + 5.07sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.13sINFOvelocity_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. + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.14sINFOrobot_state_publisherRobot initialized + 5.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.14sINFOcontroller_managerReceived robot description from topic. + 5.14sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.15sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.15sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.15sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.17sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.17sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.18sINFOlifecycle_manager_navigationCreating + 5.19sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.20sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.24sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.24sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.24sINFOcontroller_serverConfiguring controller interface + 5.24sINFOcontroller_servergetting progress checker plugins.. + 5.24sINFOcontroller_servergetting goal checker plugins.. + 5.24sINFOcontroller_serverController frequency set to 20.0000Hz + 5.24sINFOlocal_costmap.local_costmapConfiguring + 5.24sINFOvideo_server2026/11/04 01:19:24 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.25sINFOvideo_server2026/11/04 01:19:24 INF configuration loaded from /tmp/moveit-webrtc-epk27sob/mediamtx.yml ×2 + 5.25sINFOvideo_server2026/11/04 01:19:24 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.25sINFOvideo_server2026/11/04 01:19:24 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.26sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.27sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.27sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.27sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.28sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.28sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.28sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.28sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.31sWARNlaser_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. + 5.31sWARNscan_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 + 5.31sWARNlaser_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. + 5.31sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.31sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.32sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.35sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.36sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.36sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.36sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.37sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.38sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.38sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.40sINFOcontroller_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 + 5.42sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.42sINFOcontroller_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 + 5.43sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.43sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.43sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.44sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.44sINFOcontroller_serverOptimizer reset ×2 + 5.45sINFOcontroller_serverController Server has FollowPath controllers available. + 5.47sINFOamclParticle filter initialization completed + 5.47sINFOamclInitializing particles from estimated pose and covariance + 5.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.48sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.48sINFOsmoother_serverConfiguring smoother server + 5.48sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.48sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.48sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.50sINFOweb_video_auth_proxy2026-11-04 01:19:24,735 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 5.50sINFOweb_video_auth_proxy2026-11-04 01:19:24,737 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 5.50sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.51sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.51sINFOweb_bridge_auth_proxy2026-11-04 01:19:24,745 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 5.52sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.52sINFOplanner_serverConfiguring + 5.52sINFOglobal_costmap.global_costmapConfiguring + 5.55sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.55sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.56sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.56sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.56sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.58sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.58sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.58sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.59sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.64sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.64sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.66sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.69sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.69sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.72sINFOplanner_serverPlanner Server has GridBased planners available. + 5.77sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.77sINFObehavior_serverConfiguring + 5.79sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.80sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.82sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.83sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.84sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.85sINFObehavior_serverConfiguring spin + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624427 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624427 ms (missed cycles : 5).[0m ×2 + 5.88sINFObehavior_serverConfiguring backup + 5.89sINFObehavior_serverConfiguring drive_on_heading + 5.90sINFObehavior_serverConfiguring assisted_teleop + 5.93sINFObehavior_serverConfiguring wait + 5.94sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.94sINFObt_navigatorConfiguring + 5.96sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.97sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.27sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.31sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.516018 seconds + 6.31sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.31sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.31sINFOmove_groupLoaded robot model in 0.516018 seconds[0m ×2 + 6.31sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.32sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.33sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.33sINFOwaypoint_followerConfiguring + 6.36sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.37sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.37sINFOvelocity_smootherConfiguring velocity smoother + 6.38sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.38sINFOcontroller_serverActivating + 6.38sINFOlocal_costmap.local_costmapActivating + 6.38sINFOlocal_costmap.local_costmapChecking transform + 6.38sINFOlocal_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 ×9 + 6.52sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.52sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.52sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.52sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.53sINFOwaypoint_manager_nodeLoaded robot model in 0.406535 seconds[0m ×2 + 6.53sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.53sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.55sINFOros2_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 + 6.55sINFOros2_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 + 6.79sWARNmove_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. + 6.79sWARNmove_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. + 6.79sWARNmove_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 + 6.79sWARNmove_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 + 6.79sWARNmove_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. + 6.79sWARNmove_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 + 6.79sWARNmove_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. + 6.80sWARNmove_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 + 6.80sWARNmove_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. + 6.80sWARNmove_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. + 6.80sWARNmove_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 + 6.80sWARNmove_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 + 6.80sWARNmove_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. + 6.80sWARNmove_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. + 6.80sWARNmove_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 + 6.81sWARNmove_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. + 6.81sWARNmove_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. + 6.81sWARNmove_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 + 6.81sWARNmove_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 + 6.81sWARNmove_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 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431765 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431765 ms (missed cycles : 2).[0m ×2 + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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 + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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. + 7.12sWARNwaypoint_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 + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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. + 7.13sWARNwaypoint_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 + 7.13sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.14sWARNwaypoint_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. + 7.14sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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 + 7.24sINFOmove_group[2026-11-04 01:19:26.472] [moveit_pro_license] [info] ×2 + 7.24sINFOmove_group************************************************* ×4 + 7.24sINFOmove_group* MoveIt Pro License ×2 + 7.24sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.35sINFOwaypoint_manager_node[2026-11-04 01:19:26.589] [moveit_pro_license] [info] ×2 + 7.35sINFOwaypoint_manager_node************************************************* ×4 + 7.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.47sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.47sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.47sINFOros2_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 + 7.47sWARNros2_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 + 7.47sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.47sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.47sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.47sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.47sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.47sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.47sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.47sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.47sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.48sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.48sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.48sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.48sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.48sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.48sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.48sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.48sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.48sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.48sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.48sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.48sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.48sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.48sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.48sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.48sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.48sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.48sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.48sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.48sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.48sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.53sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.60sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.60sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.60sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.60sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.60sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.60sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.60sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.60sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.60sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.60sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.60sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.60sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.60sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.60sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.60sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.60sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.60sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.61sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.61sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.61sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.61sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.61sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 7.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 7.71sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.71sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.71sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.71sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.72sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.73sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.75sINFOcontroller_managerSuccessfully switched controllers! ×19 + 7.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 7.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.77sINFOros2_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 + 7.77sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.77sWARNros2_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 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961628 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961628 ms (missed cycles : 2).[0m ×2 + 7.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.10sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.10sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.10sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.10sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.13sINFOros2-16process has finished cleanly [pid 8216] ×2 + 8.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.22sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.23sWARNcomponent_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 + 8.25sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 8.25sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 8.31sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.31sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.31sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.31sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.33sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.62sINFOcomponent_container_mtLoaded robot model in 0.389427 seconds[0m ×2 + 8.62sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.62sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.69sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.69sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.72sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.72sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.72sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.73sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.73sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.73sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.73sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.73sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.73sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.74sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.74sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.74sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.74sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.74sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.74sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.74sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.74sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.74sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.78sINFOobjective_server_node[2026-11-04 01:19:28.012] [moveit_pro_license] [info] ×2 + 8.78sINFOobjective_server_node************************************************* ×4 + 8.78sINFOobjective_server_node* MoveIt Pro License ×2 + 8.78sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.81sINFOros2_control_node[2026-11-04 01:19:28.044] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.81sINFOros2_control_node[2026-11-04 01:19:28.049] [info] Controller state will be published at 10 Hz. ×2 + 8.82sINFOros2_control_node[2026-11-04 01:19:28.052] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.87sINFOobjective_server_nodeLoaded robot model in 0.0340221 seconds[0m ×2 + 8.87sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.87sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.96sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.98sINFOstreaming_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) + 8.98sINFOcomponent_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 + 8.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.98sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.98sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909698 ms (missed cycles : 2). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909698 ms (missed cycles : 2).[0m ×2 + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_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 + 9.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.17sWARNcomponent_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 + 9.17sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.17sWARNcomponent_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 + 9.17sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 9.18sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.22sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.27sINFOros2-22process has finished cleanly [pid 8226] ×2 + 9.36sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 9.36sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 9.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 9.36sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 9.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 9.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 9.37sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 9.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 9.37sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 9.37sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 9.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 9.37sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 9.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 9.39sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 9.39sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 9.48sWARNobjective_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. + 9.48sWARNobjective_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 + 9.48sWARNobjective_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. + 9.48sWARNobjective_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 + 9.48sWARNobjective_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. + 9.48sWARNobjective_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. + 9.48sWARNobjective_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 + 9.48sWARNobjective_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 + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.48sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.49sINFOcomponent_container_mt[2026-11-04 01:19:28.730] [moveit_pro_license] [info] ×2 + 9.49sINFOcomponent_container_mt************************************************* ×4 + 9.49sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.49sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.56sINFOobjective_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 + 9.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.59sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.59sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.59sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.59sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.59sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.59sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.59sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.67sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 9.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 9.68sWARNros2_control_nodeCamera render tick took 0.90 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 + 9.69sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.69sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.69sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.69sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.71sINFOros2-20process has finished cleanly [pid 8220] ×2 + 9.74sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.74sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.76sINFOforce_torque_sensor_broadcasterconfigure successful + 9.76sINFOros2_control_nodeconfigure successful[0m ×6 + 9.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.77sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.77sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.88sINFOmove_groupMoveGroup debug mode is ON + 9.88sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.89sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.89sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.90sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.93sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.93sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.93sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.94sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.94sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.94sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.95sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 10.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 10.04sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 10.05sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001518 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001518 ms (missed cycles : 2).[0m ×2 + 10.09sINFOmove_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 ****************************************************** + 10.09sINFOmove_group ×8 + 10.09sINFOmove_group****************************************************** ×4 + 10.09sINFOmove_group* MoveGroup using: ×2 + 10.09sINFOmove_group* - apply_planning_scene_service ×2 + 10.09sINFOmove_group* - clear_octomap_service ×2 + 10.09sINFOmove_group* - get_group_urdf ×2 + 10.10sINFOmove_group* - load_geometry_from_file ×2 + 10.10sINFOmove_group* - get_planning_scene_service ×2 + 10.10sINFOmove_group* - kinematics_service ×2 + 10.10sINFOmove_group* - save_geometry_to_file ×2 + 10.10sINFOmove_group* - GetPlanningGroups ×2 + 10.10sINFOmove_group* - URDFPlanningSceneCapability ×2 + 10.10sINFOmove_group[0m ×2 + 10.10sINFOmove_group[92mYou can start planning now![0m ×2 + 10.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 10.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 10.11sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 10.11sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 10.14sINFOros2-14process has finished cleanly [pid 8214] ×2 + 10.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.20sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 10.20sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 10.20sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 10.20sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 10.20sINFOplatform_velocity_controller_nav2configure successful + 10.49sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.49sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.49sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.49sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.49sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 10.49sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 10.49sINFOros2-19process has finished cleanly [pid 8219] ×2 + 10.55sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.55sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.55sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.55sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.56sINFOplatform_velocity_controllerconfigure successful + 10.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.56sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.56sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.69sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793755168.019 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.88sINFOlocal_costmap.local_costmapstart + 10.91sINFOros2-17process has finished cleanly [pid 8217] ×2 + 10.93sWARNcontroller_serverParameter controller_server.verbose not found + 10.94sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.96sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 10.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 11.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.04sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.04sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.04sINFOsmoother_serverActivating + 11.04sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911407 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911407 ms (missed cycles : 3).[0m ×2 + 11.15sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.15sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.15sINFOplanner_serverActivating + 11.15sINFOglobal_costmap.global_costmapActivating + 11.15sINFOglobal_costmap.global_costmapChecking transform + 11.15sINFOglobal_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. + 11.19sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793755169.767 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.25sINFOamclParticle filter update iteration stats: 1777 particles 811 points - 22.480ms + 11.47sINFOros2_control_node[2026-11-04 01:19:30.710] [info] Controller state will be published at 20 Hz. ×2 + 11.48sINFOros2_control_node[2026-11-04 01:19:30.717] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.65sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1793755170.878049 but the earliest data is at time 1793755171.126575, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.82sINFOros2-23process has finished cleanly [pid 8243] ×2 + 11.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 11.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 11.93sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.93sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.15sINFOglobal_costmap.global_costmapstart + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127094 ms (missed cycles : 5). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127094 ms (missed cycles : 5).[0m ×2 + 12.40sINFOros2_control_node[2026-11-04 01:19:31.641] [info] Controller state will be published at 20 Hz. ×2 + 12.41sINFOros2_control_node[2026-11-04 01:19:31.642] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.75sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.75sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.75sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.75sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 12.75sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.75sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 12.76sINFOros2-24process has finished cleanly [pid 8247] ×2 + 12.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 13.20sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.20sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744730 ms (missed cycles : 2). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744730 ms (missed cycles : 2).[0m ×2 + 13.28sINFOros2_control_node[2026-11-04 01:19:32.520] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.29sINFOros2_control_node[2026-11-04 01:19:32.522] [info] Controller state will be published at 10 Hz. ×2 + 13.29sINFOros2_control_node[2026-11-04 01:19:32.523] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.31sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.31sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.31sINFObehavior_serverActivating + 13.31sINFObehavior_serverActivating spin + 13.31sINFObehavior_serverActivating backup + 13.31sINFObehavior_serverActivating drive_on_heading + 13.31sINFObehavior_serverActivating assisted_teleop + 13.31sINFObehavior_serverActivating wait + 13.31sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.42sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.42sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.42sINFObt_navigatorActivating + 13.49sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.59sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.59sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.59sINFOwaypoint_followerActivating + 13.59sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.65sINFOros2-21process has finished cleanly [pid 8225] ×2 + 13.66sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 13.66sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 13.66sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 13.66sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 13.66sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 13.66sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 13.70sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.70sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.70sINFOvelocity_smootherActivating + 13.70sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.72sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 13.72sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 13.72sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 13.72sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 13.73sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 13.73sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 13.73sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 13.73sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.81sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.81sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.81sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.06sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 14.06sINFOcontroller_managerLoading controller 'vacuum_gripper' + 14.06sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 14.06sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 14.06sINFOros2-15process has finished cleanly [pid 8215] ×2 + 14.07sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz + 14.07sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_eamkm9q9 --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_hgp0v9go --params-file /tmp/launch_params_tnjo0afz [0m ×2 + 14.09sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 14.09sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.13sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 14.13sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 14.13sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 14.13sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 14.13sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 14.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 14.13sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 14.13sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 14.14sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 14.14sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377479 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377479 ms (missed cycles : 3).[0m ×2 + 14.47sINFOros2-18process has finished cleanly [pid 8218] ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729344 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729344 ms (missed cycles : 3).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444478 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444478 ms (missed cycles : 2).[0m ×2 + 16.77sWARNobjective_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 + 17.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098129 ms (missed cycles : 5). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098129 ms (missed cycles : 5).[0m ×2 + 17.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 17.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 17.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 17.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 17.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 17.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 17.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535688 ms (missed cycles : 3). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535688 ms (missed cycles : 3).[0m ×2 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117377 ms (missed cycles : 3). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117377 ms (missed cycles : 3).[0m ×2 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808400 ms (missed cycles : 3). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808400 ms (missed cycles : 3).[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3).[0m ×2 + 23.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 23.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 23.34sINFOobjective_server_nodeobjective_name: "" ×12 + 23.34sINFOobjective_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 + 23.34sINFOobjective_server_node ×56 + 23.34sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 23.34sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 23.35sINFOobjective_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 + 23.35sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 23.35sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 23.35sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 23.35sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 23.35sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 23.35sINFOobjective_server_node</Control> ×24 + 23.35sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 23.35sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 23.35sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 23.35sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 23.35sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 23.35sINFOobjective_server_nodeparameter_overrides: [] ×14 + 23.35sINFOobjective_server_nodecaller: ×14 + 23.35sINFOobjective_server_nodetype: 0 ×14 + 23.35sINFOobjective_server_nodename: "" ×14 + 23.35sINFOobjective_server_nodeinstance_id: "" ×14 + 23.40sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.63304758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.48sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.71326661 seconds ×3 + 23.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 23.54sINFOobjective_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 + 23.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.81927204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.66sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 24.22sINFOobjective_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: "" + 24.22sINFOobjective_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 + 24.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 24.36sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 24.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.49sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 25.04sINFOobjective_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=\"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: "" + 25.04sINFOobjective_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=\"AlwaysFailure\" /></Control></Control> ×2 + 25.08sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 25.29sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 25.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 25.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 25.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 25.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 25.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 25.96sINFOmove_groupClearing octomap...[0m ×2 + 25.96sINFOmove_groupOctomap cleared.[0m ×2 + 25.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 25.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 25.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3
✓ passed	—	release_fails	0.9s	6 errors · 24 warnings · 741 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3).[0m ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3).[0m ×2 + 1.64sINFOobjective_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: "" + 1.64sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.64sINFOobjective_server_nodeobjective_name: "" ×12 + 1.64sINFOobjective_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 + 1.64sINFOobjective_server_node ×64 + 1.64sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.64sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.64sINFOobjective_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 + 1.64sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.64sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.64sINFOobjective_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 + 1.64sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.64sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.64sINFOobjective_server_node</Control> ×24 + 1.64sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.64sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.64sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.64sINFOobjective_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 + 1.64sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.64sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.64sINFOobjective_server_nodecaller: ×22 + 1.64sINFOobjective_server_nodetype: 0 ×22 + 1.64sINFOobjective_server_nodename: "" ×22 + 1.64sINFOobjective_server_nodeinstance_id: "" ×22 + 1.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.63304758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.71326661 seconds ×3 + 1.84sINFOobjective_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=\"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 + 1.84sINFOobjective_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 + 1.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.81927204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.52sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 2.56sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 2.65sINFOobjective_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 + 2.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.34sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.38sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 3.59sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.26sINFOmove_groupClearing octomap...[0m ×2 + 4.26sINFOmove_groupOctomap cleared.[0m ×2 + 4.27sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.27sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.35sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 6.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2
✓ passed	—	placed	0.9s	6 errors · 21 warnings · 641 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808400 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808400 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3).[0m ×2 + 1.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.59sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 2.68sINFOobjective_server_nodeobjective_name: "" ×12 + 2.68sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.68sINFOobjective_server_node ×60 + 2.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.68sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.68sINFOobjective_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 + 2.68sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.68sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.68sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.68sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.68sINFOobjective_server_node</Control> ×24 + 2.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.68sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.68sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.68sINFOobjective_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=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.68sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×18 + 2.68sINFOobjective_server_nodecaller: ×18 + 2.68sINFOobjective_server_nodetype: 0 ×18 + 2.68sINFOobjective_server_nodename: "" ×18 + 2.68sINFOobjective_server_nodeinstance_id: "" ×18 + 2.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.63304758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.71326661 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 2.88sINFOobjective_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 + 2.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.81927204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_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: "" + 3.56sINFOobjective_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 + 3.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 3.69sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_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: "" + 4.38sINFOobjective_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 + 4.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.29sINFOmove_groupClearing octomap...[0m ×2 + 5.29sINFOmove_groupOctomap cleared.[0m ×2 + 5.30sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.86sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.91sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3
✓ passed	—	hover_fails	0.8s	6 errors · 24 warnings · 691 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808400 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808400 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3).[0m ×2 + 1.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.59sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.68sINFOobjective_server_nodeobjective_name: "" ×12 + 2.68sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.68sINFOobjective_server_node ×62 + 2.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.68sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.68sINFOobjective_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 + 2.68sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.68sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.68sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.68sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.68sINFOobjective_server_node</Control> ×24 + 2.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.68sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.68sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.68sINFOobjective_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=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.68sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.68sINFOobjective_server_nodecaller: ×20 + 2.68sINFOobjective_server_nodetype: 0 ×20 + 2.68sINFOobjective_server_nodename: "" ×20 + 2.68sINFOobjective_server_nodeinstance_id: "" ×20 + 2.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.63304758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.71326661 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 2.88sINFOobjective_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 + 2.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.81927204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_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: "" + 3.56sINFOobjective_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 + 3.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 3.69sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_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: "" + 4.38sINFOobjective_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 + 4.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.25sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 5.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.29sINFOmove_groupClearing octomap...[0m ×2 + 5.29sINFOmove_groupOctomap cleared.[0m ×2 + 5.30sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.86sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.91sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.97sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 7.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 7.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	6 errors · 21 warnings · 588 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117377 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117377 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808400 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808400 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444898 ms (missed cycles : 3).[0m ×2 + 2.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.71sINFOobjective_server_nodeobjective_name: "" ×12 + 3.71sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 3.71sINFOobjective_server_node ×58 + 3.71sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.71sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.71sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 3.71sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.71sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.71sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.71sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.71sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.71sINFOobjective_server_node</Control> ×24 + 3.71sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.71sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.71sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.71sINFOobjective_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=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.71sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.71sINFOobjective_server_nodecaller: ×16 + 3.71sINFOobjective_server_nodetype: 0 ×16 + 3.71sINFOobjective_server_nodename: "" ×16 + 3.71sINFOobjective_server_nodeinstance_id: "" ×16 + 3.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.63304758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.71326661 seconds ×3 + 3.90sINFOobjective_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=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 3.91sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.81927204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_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: "" + 4.59sINFOobjective_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 + 4.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 4.72sINFOobjective_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 + 4.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_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: "" + 5.41sINFOobjective_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 + 5.45sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 6.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.32sINFOmove_groupClearing octomap...[0m ×2 + 6.32sINFOmove_groupOctomap cleared.[0m ×2 + 6.33sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.33sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 6.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.95sINFOvacuum_gripperReceived & accepted new action goal + 6.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3

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

15 pass27 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	72.9s	3 errors · 241 warnings · 291 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.666ms + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.850ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766574 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766574 ms (missed cycles : 3).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.571ms + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493798 ms (missed cycles : 3). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493798 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.879ms + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.515ms + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.89sERRORobjective_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: 1793755400.86483550 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132013 ms (missed cycles : 4). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132013 ms (missed cycles : 4).[0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOstate_estimatorReceived a set_pose request (stamp: 1793755400886447143, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-0.62, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 3.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.36sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.431ms + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793755401.48028398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679626 ms (missed cycles : 5). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679626 ms (missed cycles : 5).[0m ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668777 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668777 ms (missed cycles : 3).[0m ×2 + 5.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.05sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.05sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171838, yaw=-0.0184035 + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.835ms + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418504 ms (missed cycles : 5). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418504 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.14sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027408 ms (missed cycles : 2). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027408 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091651 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091651 ms (missed cycles : 3).[0m ×2 + 8.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.696ms + 8.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.641ms + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598923 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598923 ms (missed cycles : 3).[0m ×2 + 9.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.725ms + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167265 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167265 ms (missed cycles : 2).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.355ms + 10.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.704ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463900 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463900 ms (missed cycles : 3).[0m ×2 + 11.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.173ms + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.765ms + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830511 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830511 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.668ms + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178315 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178315 ms (missed cycles : 2).[0m ×2 + 13.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.475ms + 14.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.490ms + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999157 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999157 ms (missed cycles : 3).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.889ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.577ms + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769491 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769491 ms (missed cycles : 3).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.020ms + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036886 ms (missed cycles : 4). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036886 ms (missed cycles : 4).[0m ×2 + 17.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.797ms + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.766ms + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580367 ms (missed cycles : 3). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580367 ms (missed cycles : 3).[0m ×2 + 18.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.248ms + 18.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819642 ms (missed cycles : 2). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819642 ms (missed cycles : 2).[0m ×2 + 19.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.415ms + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.560ms + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835792 ms (missed cycles : 3). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835792 ms (missed cycles : 3).[0m ×2 + 20.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.488ms + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.308532 ms (missed cycles : 6). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.308532 ms (missed cycles : 6).[0m ×2 + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.623ms + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.398ms + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607941 ms (missed cycles : 4). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607941 ms (missed cycles : 4).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.557ms + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329337 ms (missed cycles : 5). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329337 ms (missed cycles : 5).[0m ×2 + 23.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.087ms + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.682ms + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490167 ms (missed cycles : 4). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490167 ms (missed cycles : 4).[0m ×2 + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.376ms + 25.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581784 ms (missed cycles : 3). + 25.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581784 ms (missed cycles : 3).[0m ×2 + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.461ms + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.902ms + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777577 ms (missed cycles : 3). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777577 ms (missed cycles : 3).[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.369ms + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.971ms + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854173 ms (missed cycles : 2). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854173 ms (missed cycles : 2).[0m ×2 + 28.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.151ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833607 ms (missed cycles : 5). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833607 ms (missed cycles : 5).[0m ×2 + 28.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.503ms + 29.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.109ms + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087732 ms (missed cycles : 4). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087732 ms (missed cycles : 4).[0m ×2 + 30.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.205ms + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738531 ms (missed cycles : 5). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738531 ms (missed cycles : 5).[0m ×2 + 30.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.396ms + 31.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.577ms + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073461 ms (missed cycles : 2). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073461 ms (missed cycles : 2).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.495ms + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183565 ms (missed cycles : 2). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183565 ms (missed cycles : 2).[0m ×2 + 33.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.457ms + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785348 ms (missed cycles : 2). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785348 ms (missed cycles : 2).[0m ×2 + 34.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.260ms + 34.52sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.52sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376779 ms (missed cycles : 2). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376779 ms (missed cycles : 2).[0m ×2 + 35.41sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721461 ms (missed cycles : 3). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721461 ms (missed cycles : 3).[0m ×2 + 36.26sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975805 ms (missed cycles : 5). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975805 ms (missed cycles : 5).[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821026 ms (missed cycles : 2). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821026 ms (missed cycles : 2).[0m ×2 + 38.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.264ms + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013147 ms (missed cycles : 4). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013147 ms (missed cycles : 4).[0m ×2 + 39.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.955ms + 40.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.655ms + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672562 ms (missed cycles : 4). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672562 ms (missed cycles : 4).[0m ×2 + 40.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.218ms + 41.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.597ms + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940263 ms (missed cycles : 2). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940263 ms (missed cycles : 2).[0m ×2 + 41.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.943ms + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630280 ms (missed cycles : 3). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630280 ms (missed cycles : 3).[0m ×2 + 43.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.493ms + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978567 ms (missed cycles : 3). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.978567 ms (missed cycles : 3).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792195 ms (missed cycles : 3). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792195 ms (missed cycles : 3).[0m ×2 + 44.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.538ms + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304595 ms (missed cycles : 2). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304595 ms (missed cycles : 2).[0m ×2 + 45.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.623ms + 46.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.290ms + 46.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915721 ms (missed cycles : 3). + 46.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915721 ms (missed cycles : 3).[0m ×2 + 46.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.900ms + 47.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.825ms + 47.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.118ms + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208030 ms (missed cycles : 3). + 47.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208030 ms (missed cycles : 3).[0m ×2 + 48.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.113ms + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612097 ms (missed cycles : 3). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612097 ms (missed cycles : 3).[0m ×2 + 48.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.854ms + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.045ms + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999112 ms (missed cycles : 3). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999112 ms (missed cycles : 3).[0m ×2 + 50.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.757ms + 50.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998818 ms (missed cycles : 2). + 50.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998818 ms (missed cycles : 2).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.449ms + 51.57sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 51.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219785 ms (missed cycles : 5). + 51.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219785 ms (missed cycles : 5).[0m ×2 + 52.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378368 ms (missed cycles : 2). + 52.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378368 ms (missed cycles : 2).[0m ×2 + 53.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.425ms + 53.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252597 ms (missed cycles : 2). + 53.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252597 ms (missed cycles : 2).[0m ×2 + 55.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088219 ms (missed cycles : 2). + 55.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088219 ms (missed cycles : 2).[0m ×2 + 55.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.989ms + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084435 ms (missed cycles : 5). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084435 ms (missed cycles : 5).[0m ×2 + 56.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.419ms + 56.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.271ms + 57.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303940 ms (missed cycles : 2). + 57.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303940 ms (missed cycles : 2).[0m ×2 + 57.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.015ms + 58.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266686 ms (missed cycles : 2). + 58.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266686 ms (missed cycles : 2).[0m ×2 + 58.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.411ms + 59.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.558ms + 59.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641936 ms (missed cycles : 2). + 59.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641936 ms (missed cycles : 2).[0m ×2 + 59.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.132ms + 60.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.104ms + 60.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790234 ms (missed cycles : 2). + 60.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790234 ms (missed cycles : 2).[0m ×2 + 60.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.648ms + 61.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.171ms + 61.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551083 ms (missed cycles : 3). + 61.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551083 ms (missed cycles : 3).[0m ×2 + 62.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592081 ms (missed cycles : 2). + 62.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592081 ms (missed cycles : 2).[0m ×2 + 62.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.496ms + 62.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.274ms + 63.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125662 ms (missed cycles : 3). + 63.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125662 ms (missed cycles : 3).[0m ×2 + 64.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.569ms + 64.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246714 ms (missed cycles : 2). + 64.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246714 ms (missed cycles : 2).[0m ×2 + 64.32sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 65.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394850 ms (missed cycles : 3). + 65.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394850 ms (missed cycles : 3).[0m ×2 + 66.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540456 ms (missed cycles : 3). + 66.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540456 ms (missed cycles : 3).[0m ×2 + 67.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105418 ms (missed cycles : 4). + 67.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105418 ms (missed cycles : 4).[0m ×2 + 68.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.559ms + 68.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580461 ms (missed cycles : 2). + 68.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580461 ms (missed cycles : 2).[0m ×2 + 69.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.400ms + 69.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480053 ms (missed cycles : 4). + 69.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480053 ms (missed cycles : 4).[0m ×2 + 69.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.442ms + 70.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.768ms + 70.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173744 ms (missed cycles : 3). + 70.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173744 ms (missed cycles : 3).[0m ×2 + 70.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.677ms + 71.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.810ms + 71.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187612 ms (missed cycles : 3). + 71.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187612 ms (missed cycles : 3).[0m ×2 + 71.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.117ms + 71.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.737ms + 72.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071814 ms (missed cycles : 3). + 72.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071814 ms (missed cycles : 3).[0m ×2 + 72.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.215ms + 73.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.825ms + 73.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.027ms + 73.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.056ms + 74.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244864 ms (missed cycles : 3). + 74.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244864 ms (missed cycles : 3).[0m ×2 + 74.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.664ms + 75.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848014 ms (missed cycles : 3). + 75.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848014 ms (missed cycles : 3).[0m ×2 + 75.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.680ms + 75.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793755473.79051304 seconds ×3 + 75.86sINFOstate_estimatorReceived a set_pose request (stamp: 1793755473811211339, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 76.04sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 76.04sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 76.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021948 ms (missed cycles : 2). + 76.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021948 ms (missed cycles : 2).[0m ×2 + 76.24sWARNlocal_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 + 76.24sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 76.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 76.36sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 76.41sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793755474.38889074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.49sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.982ms + 76.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 76.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.231ms + 77.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659334 ms (missed cycles : 3). + 77.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659334 ms (missed cycles : 3).[0m ×2 + 78.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772396 ms (missed cycles : 3). + 78.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772396 ms (missed cycles : 3).[0m ×2 + 79.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3). + 79.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.7s	200 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.48sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.48sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720272 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720272 ms (missed cycles : 2).[0m ×2 + 8.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995193 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995193 ms (missed cycles : 2).[0m ×2 + 9.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.655ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305161 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305161 ms (missed cycles : 3).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.797ms + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309516 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309516 ms (missed cycles : 2).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.333ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116374 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116374 ms (missed cycles : 3).[0m ×2 + 11.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.585ms ×2 + 12.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.752ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517065 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517065 ms (missed cycles : 3).[0m ×2 + 13.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.290ms + 13.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.422ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297701 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297701 ms (missed cycles : 2).[0m ×2 + 14.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.481ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637800 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637800 ms (missed cycles : 3).[0m ×2 + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.335ms + 15.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.969ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088445 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088445 ms (missed cycles : 2).[0m ×2 + 16.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.558ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697698 ms (missed cycles : 3). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697698 ms (missed cycles : 3).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.555ms + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955754 ms (missed cycles : 3). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955754 ms (missed cycles : 3).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.366ms + 19.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.613ms + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299387 ms (missed cycles : 5). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299387 ms (missed cycles : 5).[0m ×2 + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.011ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674046 ms (missed cycles : 3). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674046 ms (missed cycles : 3).[0m ×2 + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.717ms + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.992ms + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193451 ms (missed cycles : 4). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193451 ms (missed cycles : 4).[0m ×2 + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.365ms + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108663 ms (missed cycles : 3). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108663 ms (missed cycles : 3).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.355ms + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.472ms + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198371 ms (missed cycles : 4). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198371 ms (missed cycles : 4).[0m ×2 + 23.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.304ms + 24.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.388ms + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.704846 ms (missed cycles : 6). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.704846 ms (missed cycles : 6).[0m ×2 + 25.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.668ms + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855441 ms (missed cycles : 5). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855441 ms (missed cycles : 5).[0m ×2 + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.381ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.336ms + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893878 ms (missed cycles : 2). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893878 ms (missed cycles : 2).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.636ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409736 ms (missed cycles : 6). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409736 ms (missed cycles : 6).[0m ×2 + 27.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.501ms + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.618ms + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361040 ms (missed cycles : 4). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361040 ms (missed cycles : 4).[0m ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.020ms + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.774028 ms (missed cycles : 5). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.774028 ms (missed cycles : 5).[0m ×2 + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.864ms + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.250ms + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350983 ms (missed cycles : 3). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350983 ms (missed cycles : 3).[0m ×2 + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.177ms + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984325 ms (missed cycles : 3). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984325 ms (missed cycles : 3).[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.402ms + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.315ms + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362409 ms (missed cycles : 3). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362409 ms (missed cycles : 3).[0m ×2 + 33.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.508ms + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488232 ms (missed cycles : 2). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488232 ms (missed cycles : 2).[0m ×2 + 34.89sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.92sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312646 ms (missed cycles : 4). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312646 ms (missed cycles : 4).[0m ×2 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966939 ms (missed cycles : 3). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966939 ms (missed cycles : 3).[0m ×2 + 37.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080867 ms (missed cycles : 3). + 37.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080867 ms (missed cycles : 3).[0m ×2 + 37.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.775ms + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563811 ms (missed cycles : 4). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563811 ms (missed cycles : 4).[0m ×2 + 39.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.986ms + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514039 ms (missed cycles : 4). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514039 ms (missed cycles : 4).[0m ×2 + 40.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604001 ms (missed cycles : 4). + 40.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604001 ms (missed cycles : 4).[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891586 ms (missed cycles : 3). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891586 ms (missed cycles : 3).[0m ×2 + 41.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.166ms + 42.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484042 ms (missed cycles : 3). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484042 ms (missed cycles : 3).[0m ×2 + 42.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.952ms + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986336 ms (missed cycles : 4). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986336 ms (missed cycles : 4).[0m ×2 + 44.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570885 ms (missed cycles : 3). + 44.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570885 ms (missed cycles : 3).[0m ×2 + 45.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.735ms + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302232 ms (missed cycles : 4). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302232 ms (missed cycles : 4).[0m ×2 + 46.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.535ms + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570109 ms (missed cycles : 3). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570109 ms (missed cycles : 3).[0m ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923815 ms (missed cycles : 3). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923815 ms (missed cycles : 3).[0m ×2 + 48.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.285ms + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936162 ms (missed cycles : 3). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936162 ms (missed cycles : 3).[0m ×2 + 48.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.637ms + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797843 ms (missed cycles : 4). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797843 ms (missed cycles : 4).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539636 ms (missed cycles : 3). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539636 ms (missed cycles : 3).[0m ×2 + 51.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.936ms + 52.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912331 ms (missed cycles : 3). + 52.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912331 ms (missed cycles : 3).[0m ×2 + 52.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.945ms + 53.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861228 ms (missed cycles : 3). + 53.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861228 ms (missed cycles : 3).[0m ×2 + 54.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407365 ms (missed cycles : 2). + 54.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407365 ms (missed cycles : 2).[0m ×2 + 55.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581949 ms (missed cycles : 4). + 55.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581949 ms (missed cycles : 4).[0m ×2 + 55.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.988ms + 56.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299958 ms (missed cycles : 5). + 56.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299958 ms (missed cycles : 5).[0m ×2 + 56.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.486ms + 57.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469181 ms (missed cycles : 4). + 57.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469181 ms (missed cycles : 4).[0m ×2 + 58.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673587 ms (missed cycles : 2). + 58.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673587 ms (missed cycles : 2).[0m ×2 + 59.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872618 ms (missed cycles : 2). + 59.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872618 ms (missed cycles : 2).[0m ×2 + 59.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 59.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.303ms + 60.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.072571 ms (missed cycles : 5). + 60.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.072571 ms (missed cycles : 5).[0m ×2 + 60.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793755537.97983432 seconds ×3 + 60.79sINFOstate_estimatorReceived a set_pose request (stamp: 1793755537997468269, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.81sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-4.00, 3.25) to (0.98, 8.23). The costmap cannot raytrace for it. + 60.81sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-4.00, 3.25) to (0.98, 8.23). The costmap cannot raytrace for it. + 60.91sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.91sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.860ms + 61.21sWARNlocal_costmap.local_costmapSensor origin at (-0.90, 5.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.21sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 5.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769792 ms (missed cycles : 3). + 61.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769792 ms (missed cycles : 3).[0m ×2 + 61.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.31sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793755538.58810616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 36.511ms + 61.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.48sINFOamclInitializing particles from estimated pose and covariance + 61.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568513, y=-0.0171811, yaw=-0.0184016 + 61.78sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 61.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.520ms + 62.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178819 ms (missed cycles : 3). + 62.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178819 ms (missed cycles : 3).[0m ×2 + 63.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.531115 ms (missed cycles : 4). + 63.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.531115 ms (missed cycles : 4).[0m ×2 + 64.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405301 ms (missed cycles : 3). + 64.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405301 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.6s	192 warnings · 234 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.334ms + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.068ms + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.268ms + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.967ms + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173550 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173550 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.403ms + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.644ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048886 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048886 ms (missed cycles : 4).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.856ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.84sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793755238.48476362 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOstate_estimatorReceived a set_pose request (stamp: 1793755238504990030, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 5.518ms + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793755239.09155965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127120 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127120 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201594 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201594 ms (missed cycles : 3).[0m ×2 + 5.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.01sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184048 + 5.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.041ms + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455437 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455437 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.11sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565934 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565934 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828124 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828124 ms (missed cycles : 3).[0m ×2 + 8.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.451ms + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.903ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320767 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320767 ms (missed cycles : 2).[0m ×2 + 9.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.051ms + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432850 ms (missed cycles : 4). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432850 ms (missed cycles : 4).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.606ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.359ms + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402891 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402891 ms (missed cycles : 3).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.363ms + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164005 ms (missed cycles : 4). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164005 ms (missed cycles : 4).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.762ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.786ms + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490011 ms (missed cycles : 3). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490011 ms (missed cycles : 3).[0m ×2 + 13.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.511ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299393 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299393 ms (missed cycles : 2).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.994ms + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.395ms + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053007 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053007 ms (missed cycles : 2).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.084ms + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.958ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582124 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582124 ms (missed cycles : 3).[0m ×2 + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.588ms + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887185 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887185 ms (missed cycles : 2).[0m ×2 + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.075ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.147ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585458 ms (missed cycles : 3). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585458 ms (missed cycles : 3).[0m ×2 + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.446ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999787 ms (missed cycles : 5). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999787 ms (missed cycles : 5).[0m ×2 + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.360ms + 20.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.249ms + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209800 ms (missed cycles : 4). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209800 ms (missed cycles : 4).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.918ms + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051284 ms (missed cycles : 5). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051284 ms (missed cycles : 5).[0m ×2 + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.063ms + 22.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.400ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898174 ms (missed cycles : 3). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898174 ms (missed cycles : 3).[0m ×2 + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.083ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842625 ms (missed cycles : 2). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842625 ms (missed cycles : 2).[0m ×2 + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.880ms + 24.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514912 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514912 ms (missed cycles : 2).[0m ×2 + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.545ms + 25.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.318ms + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063366 ms (missed cycles : 3). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063366 ms (missed cycles : 3).[0m ×2 + 26.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.249ms + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541129 ms (missed cycles : 2). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541129 ms (missed cycles : 2).[0m ×2 + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.686ms + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.429ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771623 ms (missed cycles : 4). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771623 ms (missed cycles : 4).[0m ×2 + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.553ms + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995101 ms (missed cycles : 3). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995101 ms (missed cycles : 3).[0m ×2 + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.105ms + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.870ms + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977502 ms (missed cycles : 2). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977502 ms (missed cycles : 2).[0m ×2 + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.037ms + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096424 ms (missed cycles : 2). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096424 ms (missed cycles : 2).[0m ×2 + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.664ms + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.951ms + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113178 ms (missed cycles : 4). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113178 ms (missed cycles : 4).[0m ×2 + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.412ms + 33.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.992ms + 33.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701890 ms (missed cycles : 3). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701890 ms (missed cycles : 3).[0m ×2 + 34.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.734ms + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609767 ms (missed cycles : 5). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609767 ms (missed cycles : 5).[0m ×2 + 34.52sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.58sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578059 ms (missed cycles : 3). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578059 ms (missed cycles : 3).[0m ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415979 ms (missed cycles : 3). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415979 ms (missed cycles : 3).[0m ×2 + 37.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.652ms + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805170 ms (missed cycles : 2). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805170 ms (missed cycles : 2).[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080433 ms (missed cycles : 3). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080433 ms (missed cycles : 3).[0m ×2 + 38.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.764ms + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263650 ms (missed cycles : 3). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263650 ms (missed cycles : 3).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301832 ms (missed cycles : 2). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301832 ms (missed cycles : 2).[0m ×2 + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540198 ms (missed cycles : 2). + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540198 ms (missed cycles : 2).[0m ×2 + 41.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.314ms + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089890 ms (missed cycles : 2). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089890 ms (missed cycles : 2).[0m ×2 + 43.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311656 ms (missed cycles : 4). + 43.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311656 ms (missed cycles : 4).[0m ×2 + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303810 ms (missed cycles : 4). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303810 ms (missed cycles : 4).[0m ×2 + 45.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.054ms + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883309 ms (missed cycles : 5). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883309 ms (missed cycles : 5).[0m ×2 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000824 ms (missed cycles : 2). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000824 ms (missed cycles : 2).[0m ×2 + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205836 ms (missed cycles : 2). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205836 ms (missed cycles : 2).[0m ×2 + 47.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.145ms + 48.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.017ms + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059635 ms (missed cycles : 4). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059635 ms (missed cycles : 4).[0m ×2 + 50.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682950 ms (missed cycles : 2). + 50.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682950 ms (missed cycles : 2).[0m ×2 + 51.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166409 ms (missed cycles : 2). + 51.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166409 ms (missed cycles : 2).[0m ×2 + 51.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.142ms + 52.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.444ms + 52.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086486 ms (missed cycles : 6). + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086486 ms (missed cycles : 6).[0m ×2 + 53.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142641 ms (missed cycles : 5). + 53.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142641 ms (missed cycles : 5).[0m ×2 + 54.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248716 ms (missed cycles : 2). + 54.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248716 ms (missed cycles : 2).[0m ×2 + 55.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.559ms + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799034 ms (missed cycles : 2). + 55.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799034 ms (missed cycles : 2).[0m ×2 + 56.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.115ms + 56.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996548 ms (missed cycles : 3). + 56.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996548 ms (missed cycles : 3).[0m ×2 + 57.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3). + 57.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3).[0m ×2 + 58.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3). + 58.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3).[0m ×2 + 59.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 59.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2). + 59.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2).[0m ×2 + 60.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793755296.08177543 seconds ×3 + 60.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 60.50sINFOstate_estimatorReceived a set_pose request (stamp: 1793755296108295092, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.60sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 60.60sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 60.70sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.70sWARNlocal_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 + 60.83sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.400ms + 60.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3). + 60.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3).[0m ×2 + 60.90sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 8.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.90sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 8.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.03sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.10sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793755296.71660256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.955ms + 61.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 61.50sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 61.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.365ms + 61.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5). + 62.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5).[0m ×2 + 63.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2). + 63.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.5s	194 warnings · 233 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.197ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.180ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.335ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.87sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793755335.26686239 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_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 + 2.93sINFOros2_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 + 2.94sINFOcontroller_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: 1793755335291364177, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.581ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793755335.89322615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2).[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 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.15sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.22sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.22sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.22sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314365 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314365 ms (missed cycles : 3).[0m ×2 + 8.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.006ms + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272198 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272198 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.127ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537503 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537503 ms (missed cycles : 3).[0m ×2 + 9.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.486ms + 10.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.437ms + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220339 ms (missed cycles : 3). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220339 ms (missed cycles : 3).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.769ms + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027283 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027283 ms (missed cycles : 2).[0m ×2 + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.775ms + 12.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.196ms + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368513 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368513 ms (missed cycles : 3).[0m ×2 + 12.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.630ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835402 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835402 ms (missed cycles : 3).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.771ms + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.805ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076811 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076811 ms (missed cycles : 3).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.031ms + 15.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.447ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147723 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147723 ms (missed cycles : 2).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.503ms + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703626 ms (missed cycles : 3). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703626 ms (missed cycles : 3).[0m ×2 + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.685ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.842ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757072 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757072 ms (missed cycles : 2).[0m ×2 + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.813ms + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805790 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805790 ms (missed cycles : 2).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.281ms + 19.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.819ms + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509380 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509380 ms (missed cycles : 3).[0m ×2 + 20.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.609ms + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730961 ms (missed cycles : 3). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730961 ms (missed cycles : 3).[0m ×2 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.713ms + 21.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.719ms + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733824 ms (missed cycles : 3). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733824 ms (missed cycles : 3).[0m ×2 + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.688ms + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052909 ms (missed cycles : 3). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052909 ms (missed cycles : 3).[0m ×2 + 23.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.305ms + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.030ms + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746127 ms (missed cycles : 2). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746127 ms (missed cycles : 2).[0m ×2 + 24.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.148ms + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.069ms + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878447 ms (missed cycles : 2). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878447 ms (missed cycles : 2).[0m ×2 + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.507ms + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979614 ms (missed cycles : 3). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979614 ms (missed cycles : 3).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.662ms + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.486ms + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917310 ms (missed cycles : 5). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917310 ms (missed cycles : 5).[0m ×2 + 27.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.381ms + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501070 ms (missed cycles : 3). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501070 ms (missed cycles : 3).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.463ms + 29.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.297ms + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796772 ms (missed cycles : 2). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796772 ms (missed cycles : 2).[0m ×2 + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.797ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519730 ms (missed cycles : 3). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519730 ms (missed cycles : 3).[0m ×2 + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.349ms + 31.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.874ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877199 ms (missed cycles : 2). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877199 ms (missed cycles : 2).[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.552ms ×2 + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273472 ms (missed cycles : 2). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.273472 ms (missed cycles : 2).[0m ×2 + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.542ms + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.832ms + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457773 ms (missed cycles : 3). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457773 ms (missed cycles : 3).[0m ×2 + 34.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.271ms + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511656 ms (missed cycles : 4). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511656 ms (missed cycles : 4).[0m ×2 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621106 ms (missed cycles : 4). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621106 ms (missed cycles : 4).[0m ×2 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.826999 ms (missed cycles : 6). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.826999 ms (missed cycles : 6).[0m ×2 + 37.21sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.00sINFOobjective_server_nodePlanning for 47 path waypoints. ×3 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856436 ms (missed cycles : 3). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856436 ms (missed cycles : 3).[0m ×2 + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.496582 ms (missed cycles : 6). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.496582 ms (missed cycles : 6).[0m ×2 + 39.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.751ms + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821041 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821041 ms (missed cycles : 3).[0m ×2 + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.669ms + 41.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.329ms + 41.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216886 ms (missed cycles : 2). + 41.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216886 ms (missed cycles : 2).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.328ms + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324811 ms (missed cycles : 3). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324811 ms (missed cycles : 3).[0m ×2 + 42.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.485ms + 43.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547926 ms (missed cycles : 3). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547926 ms (missed cycles : 3).[0m ×2 + 43.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.608ms + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542370 ms (missed cycles : 3). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542370 ms (missed cycles : 3).[0m ×2 + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341184 ms (missed cycles : 4). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341184 ms (missed cycles : 4).[0m ×2 + 45.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.290ms + 46.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.201ms + 46.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880807 ms (missed cycles : 2). + 46.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880807 ms (missed cycles : 2).[0m ×2 + 47.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.436ms + 47.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177558 ms (missed cycles : 3). + 47.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177558 ms (missed cycles : 3).[0m ×2 + 48.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.222ms + 48.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238268 ms (missed cycles : 2). + 48.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238268 ms (missed cycles : 2).[0m ×2 + 48.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.992ms + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.006ms + 49.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377404 ms (missed cycles : 4). + 49.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377404 ms (missed cycles : 4).[0m ×2 + 50.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.210ms + 50.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234693 ms (missed cycles : 4). + 50.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234693 ms (missed cycles : 4).[0m ×2 + 50.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.388ms + 51.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.744ms + 51.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849790 ms (missed cycles : 2). + 51.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849790 ms (missed cycles : 2).[0m ×2 + 52.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547903 ms (missed cycles : 3). + 52.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547903 ms (missed cycles : 3).[0m ×2 + 53.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774767 ms (missed cycles : 2). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774767 ms (missed cycles : 2).[0m ×2 + 53.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.151ms + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710529 ms (missed cycles : 3). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710529 ms (missed cycles : 3).[0m ×2 + 55.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.937ms + 55.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787990 ms (missed cycles : 2). + 55.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787990 ms (missed cycles : 2).[0m ×2 + 56.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.200ms + 57.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373297 ms (missed cycles : 2). + 57.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373297 ms (missed cycles : 2).[0m ×2 + 57.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793755389.80348063 seconds ×3 + 57.48sINFOstate_estimatorReceived a set_pose request (stamp: 1793755389828160737, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 57.56sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.05) is out of map bounds (-4.10, 5.25) to (0.88, 10.23). The costmap cannot raytrace for it. + 57.56sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.65) is out of map bounds (-4.10, 5.25) to (0.88, 10.23). The costmap cannot raytrace for it. + 57.66sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 57.66sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 57.76sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 57.76sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 57.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 57.99sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.209ms + 58.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 58.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697290 ms (missed cycles : 2). + 58.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793755390.42642331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697290 ms (missed cycles : 2).[0m ×2 + 58.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.519ms + 58.50sINFOobjective_server_nodeFound path in 0 iterations (5.03e-07 s). ×2 + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200669 ms (missed cycles : 3). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200669 ms (missed cycles : 3).[0m ×2 + 60.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421571 ms (missed cycles : 3). + 60.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421571 ms (missed cycles : 3).[0m ×2 + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434054 ms (missed cycles : 7). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434054 ms (missed cycles : 7).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 424 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 0.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.12sINFOobjective_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 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_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 + 2.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.96sINFOmove_groupClearing octomap...[0m ×2 + 2.96sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.96sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866314 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866314 ms (missed cycles : 5).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.399ms + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732468 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732468 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173778 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173778 ms (missed cycles : 2).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317911 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317911 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405334 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405334 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690727 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690727 ms (missed cycles : 3).[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144342 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144342 ms (missed cycles : 2).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437864 ms (missed cycles : 4). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437864 ms (missed cycles : 4).[0m ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674134 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674134 ms (missed cycles : 2).[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694863 ms (missed cycles : 3). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694863 ms (missed cycles : 3).[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104818 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104818 ms (missed cycles : 2).[0m ×2 + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676151 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676151 ms (missed cycles : 3).[0m ×2 + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949657 ms (missed cycles : 3). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949657 ms (missed cycles : 3).[0m ×2 + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351503 ms (missed cycles : 4). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351503 ms (missed cycles : 4).[0m ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163694 ms (missed cycles : 3). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163694 ms (missed cycles : 3).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773231 ms (missed cycles : 2). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773231 ms (missed cycles : 2).[0m ×2 + 23.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.173ms + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204613 ms (missed cycles : 2). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204613 ms (missed cycles : 2).[0m ×2 + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252860 ms (missed cycles : 3). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252860 ms (missed cycles : 3).[0m ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125736 ms (missed cycles : 3). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125736 ms (missed cycles : 3).[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930083 ms (missed cycles : 2). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930083 ms (missed cycles : 2).[0m ×2 + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791641 ms (missed cycles : 3). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791641 ms (missed cycles : 3).[0m ×2 + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707215 ms (missed cycles : 2). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707215 ms (missed cycles : 2).[0m ×2 + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377954 ms (missed cycles : 4). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377954 ms (missed cycles : 4).[0m ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804982 ms (missed cycles : 2). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804982 ms (missed cycles : 2).[0m ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851805 ms (missed cycles : 2). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851805 ms (missed cycles : 2).[0m ×2 + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162366 ms (missed cycles : 3). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162366 ms (missed cycles : 3).[0m ×2 + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279759 ms (missed cycles : 3). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279759 ms (missed cycles : 3).[0m ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686089 ms (missed cycles : 2). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686089 ms (missed cycles : 2).[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733730 ms (missed cycles : 2). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733730 ms (missed cycles : 2).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112447 ms (missed cycles : 4). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112447 ms (missed cycles : 4).[0m ×2 + 37.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.209ms + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933618 ms (missed cycles : 3). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933618 ms (missed cycles : 3).[0m ×2 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452649 ms (missed cycles : 4). + 39.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452649 ms (missed cycles : 4).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985547 ms (missed cycles : 4). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985547 ms (missed cycles : 4).[0m ×2 + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479658 ms (missed cycles : 3). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479658 ms (missed cycles : 3).[0m ×2 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223354 ms (missed cycles : 2). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223354 ms (missed cycles : 2).[0m ×2 + 43.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367801 ms (missed cycles : 3). + 43.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367801 ms (missed cycles : 3).[0m ×2 + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216849 ms (missed cycles : 4). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216849 ms (missed cycles : 4).[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266141 ms (missed cycles : 3). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266141 ms (missed cycles : 3).[0m ×2 + 46.52sINFOjoint_trajectory_controllerGoal reached, success! + 46.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793755232.31959581 seconds ×3 + 46.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.59sINFOstate_estimatorReceived a set_pose request (stamp: 1793755232338103664, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.10sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793755232.90459466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.817ms + 47.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.17sINFOamclInitializing particles from estimated pose and covariance + 47.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 47.18sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218549 ms (missed cycles : 2). + 47.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218549 ms (missed cycles : 2).[0m ×2 + 47.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.450ms + 48.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831582 ms (missed cycles : 2). + 48.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831582 ms (missed cycles : 2).[0m ×2 + 48.29sINFOobjective_server_nodeFound path in 0 iterations (3.6485e-05 s). ×2 + 48.35sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958970 ms (missed cycles : 3). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958970 ms (missed cycles : 3).[0m ×2 + 49.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.292ms + 49.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.334ms + 50.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 50.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3). + 50.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	118 warnings · 184 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136790 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136790 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531645 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531645 ms (missed cycles : 3).[0m ×2 + 1.32sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.32sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.36sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793755302.49678326 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535710 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535710 ms (missed cycles : 4).[0m ×2 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793755304.09666085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002053 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002053 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963079 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963079 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702660 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702660 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129783 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129783 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178092 ms (missed cycles : 4). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178092 ms (missed cycles : 4).[0m ×2 + 7.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.028ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761388 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761388 ms (missed cycles : 2).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.254ms + 9.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.227ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439782 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439782 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.352ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898363 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898363 ms (missed cycles : 3).[0m ×2 + 10.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.693ms + 11.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.441ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837839 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837839 ms (missed cycles : 3).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.806ms + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315249 ms (missed cycles : 4). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315249 ms (missed cycles : 4).[0m ×2 + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.336ms + 13.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.603ms + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131848 ms (missed cycles : 3). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131848 ms (missed cycles : 3).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.212ms + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851443 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851443 ms (missed cycles : 3).[0m ×2 + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.522ms + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.024ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725854 ms (missed cycles : 3). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725854 ms (missed cycles : 3).[0m ×2 + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.375ms + 16.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.790ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604053 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604053 ms (missed cycles : 3).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.328ms + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864910 ms (missed cycles : 3). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864910 ms (missed cycles : 3).[0m ×2 + 18.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.292ms + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.097ms + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695183 ms (missed cycles : 2). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695183 ms (missed cycles : 2).[0m ×2 + 19.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.303ms + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594946 ms (missed cycles : 3). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594946 ms (missed cycles : 3).[0m ×2 + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.098ms + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.146ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246601 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246601 ms (missed cycles : 2).[0m ×2 + 21.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.676ms + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781514 ms (missed cycles : 2). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781514 ms (missed cycles : 2).[0m ×2 + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.474ms + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.352ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817502 ms (missed cycles : 2). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817502 ms (missed cycles : 2).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.117ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.378ms + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575898 ms (missed cycles : 2). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575898 ms (missed cycles : 2).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.565ms + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467836 ms (missed cycles : 3). + 25.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467836 ms (missed cycles : 3).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.586ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218996 ms (missed cycles : 2). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218996 ms (missed cycles : 2).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.297ms + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.395ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477468 ms (missed cycles : 3). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477468 ms (missed cycles : 3).[0m ×2 + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.906ms + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.917ms + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165161 ms (missed cycles : 3). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165161 ms (missed cycles : 3).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.266ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105497 ms (missed cycles : 3). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105497 ms (missed cycles : 3).[0m ×2 + 29.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.124ms + 30.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.876ms + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871116 ms (missed cycles : 3). + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871116 ms (missed cycles : 3).[0m ×2 + 31.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.197ms + 31.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3). + 31.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3).[0m ×2 + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.180ms + 32.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5).[0m ×2 + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.335ms + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2).[0m ×2 + 34.13sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793755335.26686239 seconds ×3 + 34.17sINFOstate_estimatorReceived a set_pose request (stamp: 1793755335291364177, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.19sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 34.19sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 34.29sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.29sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.39sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.39sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.67sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.581ms + 34.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793755335.89322615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2).[0m ×2 + 35.17sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2).[0m ×2 + 36.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 36.37sINFOamclInitializing particles from estimated pose and covariance + 36.37sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 36.37sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 36.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4). + 36.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	80 warnings · 259 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673587 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673587 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872618 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872618 ms (missed cycles : 2).[0m ×2 + 1.37sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.303ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.072571 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.072571 ms (missed cycles : 5).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.54sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793755537.97983432 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1793755537997468269, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-4.00, 3.25) to (0.98, 8.23). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-4.00, 3.25) to (0.98, 8.23). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.860ms + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-0.90, 5.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 5.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769792 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769792 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.11sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.11sINFOobjective_server_nodecaller: ×6 + 3.11sINFOobjective_server_nodetype: 0 ×6 + 3.11sINFOobjective_server_nodename: "" ×6 + 3.11sINFOobjective_server_nodeinstance_id: "" ×6 + 3.11sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793755538.58810616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 36.511ms + 3.29sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.29sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.29sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.29sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568513, y=-0.0171811, yaw=-0.0184016 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 3.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.520ms + 3.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178819 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178819 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.531115 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.531115 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405301 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405301 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597026 ms (missed cycles : 4). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597026 ms (missed cycles : 4).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053592 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053592 ms (missed cycles : 4).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325126 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325126 ms (missed cycles : 2).[0m ×2 + 9.66sINFOobjective_server_nodeFound path in 0 iterations (7.99e-07 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 9.83sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 9.98sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 10.36sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.41sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949563 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949563 ms (missed cycles : 2).[0m ×2 + 10.81sINFOobjective_server_nodeFound path in 33 iterations (0.0335994 s). ×2 + 11.27sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364180 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364180 ms (missed cycles : 3).[0m ×2 + 11.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.04sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648003 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648003 ms (missed cycles : 2).[0m ×2 + 12.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.91sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283009 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283009 ms (missed cycles : 4).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029386 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029386 ms (missed cycles : 3).[0m ×2 + 14.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.068ms + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473357 ms (missed cycles : 3). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473357 ms (missed cycles : 3).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.354ms + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.521ms + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448473 ms (missed cycles : 3). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448473 ms (missed cycles : 3).[0m ×2 + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.825ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990290 ms (missed cycles : 3). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990290 ms (missed cycles : 3).[0m ×2 + 18.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.592ms + 18.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793755554.32070613 seconds ×3 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612397 ms (missed cycles : 3). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612397 ms (missed cycles : 3).[0m ×2 + 18.95sINFOstate_estimatorReceived a set_pose request (stamp: 1793755554346304899, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.43sINFOamclParticle filter update iteration stats: 1788 particles 811 points - 5.676ms + 19.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 19.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755554.95619988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.55sINFOmove_groupClearing octomap...[0m ×2 + 19.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.55sINFOmove_groupOctomap cleared.[0m ×2 + 19.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.848ms + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029675 ms (missed cycles : 3). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029675 ms (missed cycles : 3).[0m ×2 + 20.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755556.10639119 seconds ×3 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741701 ms (missed cycles : 4). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741701 ms (missed cycles : 4).[0m ×2 + 21.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793755556.70342422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359033 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359033 ms (missed cycles : 2).[0m ×2 + 22.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793755557.78359556 seconds ×3 + 22.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	13.8s	127 errors · 33 warnings · 577 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990290 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.592ms + 1.07sINFOjoint_trajectory_controllerGoal reached, success! + 1.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.10sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793755554.32070613 seconds ×3 + 1.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612397 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612397 ms (missed cycles : 3).[0m ×2 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.13sINFOstate_estimatorReceived a set_pose request (stamp: 1793755554346304899, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.61sINFOamclParticle filter update iteration stats: 1788 particles 811 points - 5.676ms + 1.61sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 1.61sINFOamclInitializing particles from estimated pose and covariance + 1.61sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 1.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 1.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.65sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.65sINFOobjective_server_nodecaller: ×4 + 1.65sINFOobjective_server_nodetype: 0 ×4 + 1.65sINFOobjective_server_nodename: "" ×4 + 1.65sINFOobjective_server_nodeinstance_id: "" ×4 + 1.65sINFOobjective_server_node ×4 + 1.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755554.95619988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.74sINFOmove_groupClearing octomap...[0m ×2 + 1.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.74sINFOmove_groupOctomap cleared.[0m ×2 + 1.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.848ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029675 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029675 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755556.10639119 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741701 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741701 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793755556.70342422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359033 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359033 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793755557.78359556 seconds ×3 + 4.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412820 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412820 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937352 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937352 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960295 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960295 ms (missed cycles : 3).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802456 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802456 ms (missed cycles : 3).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108487 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108487 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397400 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397400 ms (missed cycles : 3).[0m ×2 + 10.59sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.60sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.60sERRORweb_video_auth_proxy-41process has died [pid 8311, 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 + 10.61sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORweb_bridge_auth_proxy-40process has died [pid 8309, 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 + 10.61sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.66sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.67sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.67sINFOvideo_server-39process has finished cleanly [pid 8307] ×2 + 10.67sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.68sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.69sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.71sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.71sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.72sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.74sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.75sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.76sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.77sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.79sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.80sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.82sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.84sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.84sINFOcontroller_managerShutdown request received.... + 10.84sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.84sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.84sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.84sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.84sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.84sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.84sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.84sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.84sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.84sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.84sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.84sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.84sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.84sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.84sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.84sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.84sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.84sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.84sINFOcontroller_managerShutting down the controller manager. + 10.85sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.86sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.87sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.88sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.89sERRORmove_group-25process has died [pid 8274, 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_y0obrvxv --params-file /tmp/launch_params_ab3ieomd --params-file /tmp/launch_params_a4ompxri --params-file /tmp/launch_params_yiu37gsc --params-file /tmp/launch_params_zh1hfiu2 --params-file /tmp/launch_params_blujf3kn']. ×2 + 10.90sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.91sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.92sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.93sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.94sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.95sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.96sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.96sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.96sINFOmap_serverDeactivating + 10.96sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.97sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.97sINFOmap_serverCleaning up + 10.97sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.97sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.97sINFOvideo_server2026/11/04 01:26:03 INF shutting down gracefully ×2 + 10.97sINFOvideo_server2026/11/04 01:26:03 INF [WebRTC] closing ×2 + 10.97sINFOvideo_server2026/11/04 01:26:03 INF [RTSP] closing ×2 + 10.97sINFOvideo_server2026/11/04 01:26:03 INF waiting for running hooks ×2 + 10.97sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.97sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.97sINFOcontroller_serverDeactivating + 10.97sINFOlocal_costmap.local_costmapDeactivating + 10.98sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.98sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.98sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.98sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.98sERRORmove_groupStack trace (most recent call last) in thread 8941: ×2 + 10.98sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.98sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe54293ccc3, in __clone ×2 + 10.98sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe5428afb83, in ×2 + 10.98sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe542b40db3, in ×2 + 10.98sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fe5432aae94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.98sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.98sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.98sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.98sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.98sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.98sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.98sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.98sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.99sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe542ed4620, in rclcpp::Rate::sleep() ×2 + 10.99sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe542e16d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.99sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe542dd8087, in ×2 + 10.99sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe542b0f390, in __cxa_throw ×2 + 10.99sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe542af9a54, in std::terminate() ×2 + 10.99sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe542b0f0d9, in ×2 + 10.99sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe542af9ff4, in ×2 + 10.99sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe54283b8fe, in abort ×2 + 10.99sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe54285827d, in raise ×2 + 10.99sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe5428b1c0c, in pthread_kill ×2 + 10.99sERRORmove_groupAborted (Signal sent by tkill() 8274 0) ×2 + 10.99sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.99sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.99sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.99sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.99sERRORamclThe bond connection to the lifecycle manager has been broken + 11.00sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.01sINFOcontroller_serverCleaning up + 11.01sINFOlocal_costmap.local_costmapCleaning up + 11.02sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.02sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.02sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.02sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.02sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.02sINFOvelocity_smootherDeactivating + 11.02sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.06sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.06sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.06sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.06sINFOsmoother_serverDeactivating + 11.06sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.06sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.07sINFOsmoother_serverCleaning up + 11.08sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.08sINFOplanner_serverDeactivating + 11.08sINFOglobal_costmap.global_costmapDeactivating + 11.17sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.17sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.18sINFOplanner_serverCleaning up + 11.20sINFOglobal_costmap.global_costmapCleaning up + 11.20sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.20sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.23sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.23sINFOwaypoint_followerDeactivating + 11.23sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.24sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.24sINFObehavior_serverDeactivating + 11.24sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.25sINFObehavior_serverCleaning up + 11.25sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.25sINFObt_navigatorDeactivating + 11.25sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.26sINFObt_navigatorCleaning up + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.43sERRORbt_navigatorUnable to start transition 4 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.43sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.43sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.43sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.43sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.43sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.43sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.43sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.43sINFOvelocity_smootherCleaning up + 11.44sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.44sINFOwaypoint_followerCleaning up + 11.44sINFObt_navigatorCompleted Cleaning up + 11.44sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.44sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.44sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.47sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.47sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.47sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.47sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.47sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.72sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.72sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.72sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.72sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.72sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.72sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.72sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.72sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.72sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.72sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.72sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.72sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.72sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.72sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.72sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.72sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.73sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8306] ×2 + 11.73sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.73sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.73sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.73sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.73sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.73sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.73sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.73sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.73sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.73sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.73sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.73sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.73sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.73sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.78sERRORjoint_state_visualization_relay-37process has died [pid 8305, 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_xeqe5ddf']. ×2 + 11.78sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.78sERRORcomponent_container_isolated-1process has died [pid 8098, 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_oxt9xmcu --params-file /tmp/launch_params_w74f34b9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.79sERRORtf_visualization_relay-36process has died [pid 8304, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_9jdrmb40']. ×2 + 11.79sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.82sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8283] ×2 + 11.83sINFOui_teleop_bridge-34process has finished cleanly [pid 8297] ×2 + 11.84sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8282] ×2 + 11.84sINFOexecute_objective_bridge-33process has finished cleanly [pid 8292] ×2 + 11.88sINFOparameter_manager_node-26process has finished cleanly [pid 8276] ×2 + 11.90sINFOwaypoint_manager_node-27process has finished cleanly [pid 8278] ×2 + 11.91sINFOcomponent_container_mt-32process has finished cleanly [pid 8287] ×2 + 11.91sINFOrelay-11process has finished cleanly [pid 8211] ×2 + 11.92sINFOrelay-10process has finished cleanly [pid 8210] ×2 + 11.94sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8106] ×2 + 11.94sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8212] ×2 + 11.94sINFOobjective_server_node[2026-11-04 01:26:05.160] [moveit_pro_license] [critical] ×2 + 11.94sINFOobjective_server_node************************************************* ×4 + 11.94sINFOobjective_server_node* MoveIt Pro License ×2 + 11.94sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.94sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8105] ×2 + 11.95sINFOstatic_transform_publisher-7process has finished cleanly [pid 8104] ×2 + 11.96sINFOstatic_transform_publisher-6process has finished cleanly [pid 8103] ×2 + 11.97sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.97sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.97sINFOlidar_flattener.pymain() ×2 + 11.97sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.97sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.97sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.97sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.97sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.97sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.97sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.97sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.97sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.97sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.97sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.97sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.97sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.97sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.97sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.00sINFOstatic_transform_publisher-3process has finished cleanly [pid 8100] ×2 + 12.01sERRORlidar_flattener.py-5process has died [pid 8102, 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_bdg0ejk5']. ×2 + 12.15sINFOobjective_server_node_main-30process has finished cleanly [pid 8285] ×2 + 12.15sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.98sINFOodom_world_drift-4process has finished cleanly [pid 8101] ×2 + 13.26sERRORcomponent_container_isolated-2process has died [pid 8099, 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_oxt9xmcu --params-file /tmp/launch_params_dauxghwx -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.56sINFOweb_bridge-35process has finished cleanly [pid 8302] ×2 + 13.56sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 13.60sINFOros2_control_node-13process has finished cleanly [pid 8213] ×2 + 15.59sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 15.59sINFOcomponent_container_mt-31sending signal 'SIGKILL' to process[component_container_mt-31] ×2 + 15.61sERRORcomponent_container_mt-31process has died [pid 8286, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=moveit_studio_container -r __ns:=/']. ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.1s	3 errors · 67 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710529 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710529 ms (missed cycles : 3).[0m ×2 + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.937ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787990 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787990 ms (missed cycles : 2).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.200ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373297 ms (missed cycles : 2).[0m ×2 + 2.47sINFOjoint_trajectory_controllerGoal reached, success! + 2.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793755389.80348063 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1793755389828160737, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.05) is out of map bounds (-4.10, 5.25) to (0.88, 10.23). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.65) is out of map bounds (-4.10, 5.25) to (0.88, 10.23). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.209ms + 3.09sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.09sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.09sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.09sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697290 ms (missed cycles : 2). + 3.13sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793755390.42642331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697290 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.519ms + 3.57sINFOobjective_server_nodeFound path in 0 iterations (5.03e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200669 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200669 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421571 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421571 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434054 ms (missed cycles : 7). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.434054 ms (missed cycles : 7).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144001 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144001 ms (missed cycles : 2).[0m ×2 + 7.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.310ms + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626967 ms (missed cycles : 4). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626967 ms (missed cycles : 4).[0m ×2 + 8.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.739ms + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651643 ms (missed cycles : 4). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651643 ms (missed cycles : 4).[0m ×2 + 9.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.552ms + 10.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.827ms + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987295 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987295 ms (missed cycles : 3).[0m ×2 + 10.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.666ms + 11.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.850ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766574 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766574 ms (missed cycles : 3).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.571ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493798 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493798 ms (missed cycles : 3).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.879ms + 13.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.515ms + 13.53sINFOobjective_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 + 13.53sINFOjoint_trajectory_controllerGot request to cancel goal + 13.53sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.53sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.53sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.57sERRORobjective_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: 1793755400.86483550 seconds ×3 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132013 ms (missed cycles : 4). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132013 ms (missed cycles : 4).[0m ×2 + 13.61sINFOstate_estimatorReceived a set_pose request (stamp: 1793755400886447143, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.83sWARNlocal_costmap.local_costmapSensor origin at (-0.62, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.83sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 3.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.04sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.431ms + 14.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.13sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.19sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793755401.48028398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.63sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679626 ms (missed cycles : 5). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679626 ms (missed cycles : 5).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668777 ms (missed cycles : 3). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668777 ms (missed cycles : 3).[0m ×2 + 15.73sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171838, yaw=-0.0184035 + 15.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.835ms + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418504 ms (missed cycles : 5). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418504 ms (missed cycles : 5).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	51 warnings · 151 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793755296.08177543 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793755296108295092, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sWARNlocal_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 + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.400ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 8.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 8.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793755296.71660256 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 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.955ms + 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=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.365ms + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994107 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994107 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136790 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136790 ms (missed cycles : 2).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531645 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531645 ms (missed cycles : 3).[0m ×2 + 9.27sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793755302.49678326 seconds ×3 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535710 ms (missed cycles : 4). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535710 ms (missed cycles : 4).[0m ×2 + 10.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.87sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793755304.09666085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002053 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002053 ms (missed cycles : 2).[0m ×2 + 11.29sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963079 ms (missed cycles : 3). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963079 ms (missed cycles : 3).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702660 ms (missed cycles : 3). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702660 ms (missed cycles : 3).[0m ×2 + 13.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	46 warnings · 149 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.825ms + 0.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.027ms + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.056ms + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244864 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244864 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.664ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848014 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848014 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.680ms + 2.75sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.75sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793755473.79051304 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOstate_estimatorReceived a set_pose request (stamp: 1793755473811211339, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021948 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021948 ms (missed cycles : 2).[0m ×2 + 3.21sWARNlocal_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 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793755474.38889074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.982ms + 3.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.46sINFOamclInitializing particles from estimated pose and covariance + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.231ms + 3.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659334 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659334 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772396 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772396 ms (missed cycles : 3).[0m ×2 + 5.77sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 9.28sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 9.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.83sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 12.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	39 warnings · 166 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367801 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367801 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216849 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216849 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266141 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266141 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793755232.31959581 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOstate_estimatorReceived a set_pose request (stamp: 1793755232338103664, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793755232.90459466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.817ms + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.26sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 3.27sWARNobjective_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 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218549 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218549 ms (missed cycles : 2).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.450ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831582 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831582 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.6485e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958970 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958970 ms (missed cycles : 3).[0m ×2 + 5.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.292ms + 5.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.334ms + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.068ms + 7.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.268ms + 7.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.967ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173550 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173550 ms (missed cycles : 4).[0m ×2 + 7.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 7.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.403ms + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.644ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048886 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048886 ms (missed cycles : 4).[0m ×2 + 8.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.856ms + 8.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793755238.48476362 seconds ×3 + 8.86sINFOstate_estimatorReceived a set_pose request (stamp: 1793755238504990030, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.26sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 5.518ms + 9.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.36sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793755239.09155965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127120 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127120 ms (missed cycles : 4).[0m ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201594 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201594 ms (missed cycles : 3).[0m ×2 + 10.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184048 + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.041ms + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455437 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455437 ms (missed cycles : 3).[0m ×2 + 11.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.8s	24 warnings · 126 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.521ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448473 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448473 ms (missed cycles : 3).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.825ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990290 ms (missed cycles : 3). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990290 ms (missed cycles : 3).[0m ×2 + 1.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.592ms + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793755554.32070613 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612397 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612397 ms (missed cycles : 3).[0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOstate_estimatorReceived a set_pose request (stamp: 1793755554346304899, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOamclParticle filter update iteration stats: 1788 particles 811 points - 5.676ms + 2.98sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.98sINFOamclInitializing particles from estimated pose and covariance + 2.98sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.98sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755554.95619988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.848ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029675 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029675 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755556.10639119 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741701 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741701 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793755556.70342422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359033 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359033 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793755557.78359556 seconds ×3 + 6.17sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412820 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412820 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937352 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937352 ms (missed cycles : 2).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.8s	6 errors · 24 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_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: "" + 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.56sINFOobjective_server_nodeobjective_name: "" ×8 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node ×50 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.56sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.56sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.56sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.56sINFOobjective_server_node</Control> ×16 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.56sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.56sINFOobjective_server_nodecaller: ×22 + 0.56sINFOobjective_server_nodetype: 0 ×22 + 0.56sINFOobjective_server_nodename: "" ×22 + 0.56sINFOobjective_server_nodeinstance_id: "" ×22 + 0.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 0.69sINFOobjective_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 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.72sINFOobjective_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 + 0.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_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: "" + 1.38sINFOobjective_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 + 1.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 1.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.30sINFOmove_groupClearing octomap...[0m ×4 + 2.30sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 6.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 7.51sINFOobjective_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 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.63304758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.71326661 seconds ×3 + 0.20sINFOobjective_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 + 0.20sINFOobjective_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 + 0.24sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.81927204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.36sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 0.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.88sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 1.01sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.08sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 1.69sINFOobjective_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: "" + 1.70sINFOobjective_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 + 1.74sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 1.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.61sINFOmove_groupClearing octomap...[0m ×4 + 2.61sINFOmove_groupOctomap cleared.[0m ×4 + 2.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 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 + 6.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 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 + 6.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 6.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 341 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 0.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.12sINFOobjective_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 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_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 + 2.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.96sINFOmove_groupClearing octomap...[0m ×2 + 2.96sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.96sINFOmove_groupOctomap cleared.[0m ×2 + 2.96sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.95sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866314 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866314 ms (missed cycles : 5).[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 4.367801 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367801 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216849 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216849 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266141 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266141 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793755232.31959581 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOstate_estimatorReceived a set_pose request (stamp: 1793755232338103664, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793755232.90459466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.817ms + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.26sINFOamclInitializing particles from estimated pose and covariance + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 3.27sWARNobjective_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 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218549 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218549 ms (missed cycles : 2).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.450ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831582 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831582 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.6485e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958970 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958970 ms (missed cycles : 3).[0m ×2 + 5.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.292ms + 5.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.334ms + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3).[0m ×2
− 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 4.367801 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367801 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216849 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216849 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266141 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266141 ms (missed cycles : 3).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793755232.31959581 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOstate_estimatorReceived a set_pose request (stamp: 1793755232338103664, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793755232.90459466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.817ms + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.26sINFOamclInitializing particles from estimated pose and covariance + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 3.27sWARNobjective_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 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218549 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218549 ms (missed cycles : 2).[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.450ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831582 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831582 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.6485e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOjoint_trajectory_controllerReceived new action goal + 4.46sINFOjoint_trajectory_controllerAccepted new action goal + 4.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958970 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958970 ms (missed cycles : 3).[0m ×2 + 5.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.292ms + 5.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.334ms + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 88 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.334ms + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495261 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.068ms + 1.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.268ms + 1.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.967ms + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173550 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173550 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.178ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.403ms + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.644ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048886 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048886 ms (missed cycles : 4).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.856ms + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793755238.48476362 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOstate_estimatorReceived a set_pose request (stamp: 1793755238504990030, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.31sINFOamclParticle filter update iteration stats: 1798 particles 811 points - 5.518ms + 3.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793755239.09155965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127120 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127120 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201594 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201594 ms (missed cycles : 3).[0m ×2 + 5.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.01sINFOamclInitializing particles from estimated pose and covariance + 5.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184048 + 5.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.041ms + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455437 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455437 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	30 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793755296.08177543 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793755296108295092, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sWARNlocal_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 + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.400ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 8.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 8.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793755296.71660256 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 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.955ms + 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=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.365ms + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	30 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793755296.08177543 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793755296108295092, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sWARNlocal_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 + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.400ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 8.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 8.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793755296.71660256 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 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.955ms + 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=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.365ms + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	30 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793755296.08177543 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793755296108295092, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sWARNlocal_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 + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.400ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 8.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 8.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793755296.71660256 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 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.955ms + 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=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.365ms + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	30 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793755296.08177543 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793755296108295092, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sWARNlocal_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 + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.400ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 8.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 8.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793755296.71660256 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 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.955ms + 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=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.365ms + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	30 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793755296.08177543 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793755296108295092, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sWARNlocal_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 + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.400ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 8.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 8.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793755296.71660256 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 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.955ms + 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=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.365ms + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	30 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793755296.08177543 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793755296108295092, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sWARNlocal_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 + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.400ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 8.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 8.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793755296.71660256 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 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.955ms + 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=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.365ms + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	30 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354954 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391223 ms (missed cycles : 3).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745378 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793755296.08177543 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793755296108295092, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.10, 3.65) to (0.88, 8.63). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.09sWARNlocal_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 + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 11.400ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182609 ms (missed cycles : 3).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-1.77, 8.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 8.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793755296.71660256 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 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.955ms + 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=-0.0568487, y=-0.0171812, yaw=-0.0184017 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 3.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.365ms + 4.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836521 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265883 ms (missed cycles : 2).[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 - 7.197ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.180ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.335ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793755335.26686239 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_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 + 2.93sINFOros2_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 + 2.94sINFOcontroller_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: 1793755335291364177, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.581ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793755335.89322615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2).[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 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.15sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[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 - 7.197ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.180ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.335ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793755335.26686239 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_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 + 2.93sINFOros2_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 + 2.94sINFOcontroller_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: 1793755335291364177, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.581ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793755335.89322615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2).[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 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.15sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[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 - 7.197ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.180ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.335ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793755335.26686239 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_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 + 2.93sINFOros2_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 + 2.94sINFOcontroller_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: 1793755335291364177, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.581ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793755335.89322615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2).[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 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.15sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[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 - 7.197ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780680 ms (missed cycles : 3).[0m ×2 + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.180ms + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.020701 ms (missed cycles : 5).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.335ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167456 ms (missed cycles : 2).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793755335.26686239 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_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 + 2.93sINFOros2_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 + 2.94sINFOcontroller_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: 1793755335291364177, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 2.96sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-4.45, 3.70) to (0.53, 8.68). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.581ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793755335.89322615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739505 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682124 ms (missed cycles : 2).[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 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.15sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 5.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.843ms + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278518 ms (missed cycles : 4).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.22sINFOros2_control_nodeAccepted new action goal[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 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[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 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[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 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[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: 1793755183.59287000 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: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 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 + 0.16sINFOros2_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 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 0.68sINFOobjective_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 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.68sINFOobjective_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 + 0.68sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.68sINFOobjective_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: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 0.93sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.61sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.61sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.17sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 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: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_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 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[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 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[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 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[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 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[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 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[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 3.821160 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821160 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563194 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553560 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793755480.28905439 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056035 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 + 3.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793755480.89964843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443648 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112826 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182485 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 126 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.521ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448473 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448473 ms (missed cycles : 3).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.825ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990290 ms (missed cycles : 3). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990290 ms (missed cycles : 3).[0m ×2 + 1.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.592ms + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793755554.32070613 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612397 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612397 ms (missed cycles : 3).[0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.50sINFOstate_estimatorReceived a set_pose request (stamp: 1793755554346304899, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOamclParticle filter update iteration stats: 1788 particles 811 points - 5.676ms + 2.98sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.98sINFOamclInitializing particles from estimated pose and covariance + 2.98sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.98sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569485, y=-0.0171786, yaw=-0.0183987 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793755554.95619988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.848ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029675 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029675 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793755556.10639119 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741701 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741701 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793755556.70342422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359033 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359033 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793755557.78359556 seconds ×3 + 6.17sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	3 errors · 21 warnings · 453 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.16sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.16sINFOobjective_server_nodeobjective_name: "" ×2 + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.16sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.16sINFOobjective_server_nodecaller: ×16 + 0.16sINFOobjective_server_nodetype: 0 ×16 + 0.16sINFOobjective_server_nodename: "" ×16 + 0.16sINFOobjective_server_nodeinstance_id: "" ×16 + 0.16sINFOobjective_server_node ×16 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.87sINFOmove_groupClearing octomap...[0m ×4 + 0.87sINFOmove_groupOctomap cleared.[0m ×4 + 0.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_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: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_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 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.39sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[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: 1793755183.59287000 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: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 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 + 0.16sINFOros2_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 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 0.68sINFOobjective_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 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.68sINFOobjective_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 + 0.68sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.68sINFOobjective_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: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 0.93sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.56sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.60sINFOmove_groupClearing octomap...[0m ×4 + 1.60sINFOmove_groupOctomap cleared.[0m ×4 + 1.61sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.61sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.17sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 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: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.12sINFOjoint_trajectory_controllerReceived new action goal + 7.12sINFOjoint_trajectory_controllerAccepted new action goal + 7.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.12sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 805 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3).[0m ×2 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×22 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.61sINFOobjective_server_nodeobjective_name: "" ×12 + 0.61sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.61sINFOobjective_server_node ×66 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.61sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.61sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.61sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.61sINFOobjective_server_node</Control> ×24 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.61sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.61sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.61sINFOobjective_server_nodecaller: ×24 + 0.61sINFOobjective_server_nodetype: 0 ×24 + 0.61sINFOobjective_server_nodename: "" ×24 + 0.61sINFOobjective_server_nodeinstance_id: "" ×24 + 0.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.63304758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.71326661 seconds ×3 + 0.80sINFOobjective_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=\"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 + 0.80sINFOobjective_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 + 0.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.81927204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_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: "" + 1.49sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 1.62sINFOobjective_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 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_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: "" + 2.30sINFOobjective_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 + 2.35sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.22sINFOmove_groupClearing octomap...[0m ×4 + 3.22sINFOmove_groupOctomap cleared.[0m ×4 + 3.23sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.23sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.55sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 6.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOobjective_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 + 6.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3
− skipped	—	addtovector.xml	0.0s	6 errors · 21 warnings · 716 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934782 ms (missed cycles : 3).[0m ×2 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.61sINFOobjective_server_nodeobjective_name: "" ×12 + 0.61sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.61sINFOobjective_server_node ×64 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.61sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.61sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.61sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.61sINFOobjective_server_node</Control> ×24 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.61sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.61sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.61sINFOobjective_server_nodecaller: ×22 + 0.61sINFOobjective_server_nodetype: 0 ×22 + 0.61sINFOobjective_server_nodename: "" ×22 + 0.61sINFOobjective_server_nodeinstance_id: "" ×22 + 0.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.63304758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.71326661 seconds ×3 + 0.80sINFOobjective_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=\"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 + 0.80sINFOobjective_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 + 0.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755182.81927204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_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: "" + 1.49sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.53sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 1.62sINFOobjective_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 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_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: "" + 2.30sINFOobjective_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 + 2.35sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.22sINFOmove_groupClearing octomap...[0m ×2 + 3.22sINFOmove_groupOctomap cleared.[0m ×2 + 3.23sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.23sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.55sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 21 warnings · 702 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_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: "" + 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.56sINFOobjective_server_nodeobjective_name: "" ×8 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node ×50 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.56sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.56sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.56sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.56sINFOobjective_server_node</Control> ×16 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.56sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.56sINFOobjective_server_nodecaller: ×22 + 0.56sINFOobjective_server_nodetype: 0 ×22 + 0.56sINFOobjective_server_nodename: "" ×22 + 0.56sINFOobjective_server_nodeinstance_id: "" ×22 + 0.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 0.69sINFOobjective_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 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.72sINFOobjective_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 + 0.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_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: "" + 1.38sINFOobjective_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 + 1.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 1.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.30sINFOmove_groupClearing octomap...[0m ×4 + 2.30sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 6.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 21 warnings · 702 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_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: "" + 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.56sINFOobjective_server_nodeobjective_name: "" ×8 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node ×50 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.56sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.56sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.56sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.56sINFOobjective_server_node</Control> ×16 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.56sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.56sINFOobjective_server_nodecaller: ×22 + 0.56sINFOobjective_server_nodetype: 0 ×22 + 0.56sINFOobjective_server_nodename: "" ×22 + 0.56sINFOobjective_server_nodeinstance_id: "" ×22 + 0.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 0.69sINFOobjective_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 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.72sINFOobjective_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 + 0.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_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: "" + 1.38sINFOobjective_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 + 1.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 1.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.30sINFOmove_groupClearing octomap...[0m ×4 + 2.30sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 6.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 21 warnings · 702 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755182.89944911 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770022 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_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: "" + 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.56sINFOobjective_server_nodeobjective_name: "" ×8 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node ×50 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.56sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.56sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.56sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.56sINFOobjective_server_node</Control> ×16 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.56sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.56sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.56sINFOobjective_server_nodecaller: ×22 + 0.56sINFOobjective_server_nodetype: 0 ×22 + 0.56sINFOobjective_server_nodename: "" ×22 + 0.56sINFOobjective_server_nodeinstance_id: "" ×22 + 0.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.50269294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755183.59287000 seconds ×3 + 0.69sINFOobjective_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 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.72sINFOobjective_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 + 0.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755183.65686679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755183.72703600 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191514 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_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: "" + 1.38sINFOobjective_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 + 1.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 1.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.30sINFOmove_groupClearing octomap...[0m ×4 + 2.30sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 6.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	3 errors · 18 warnings · 453 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.32196522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793755184.46215057 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.16sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.16sINFOobjective_server_nodeobjective_name: "" ×2 + 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.16sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.16sINFOobjective_server_nodecaller: ×16 + 0.16sINFOobjective_server_nodetype: 0 ×16 + 0.16sINFOobjective_server_nodename: "" ×16 + 0.16sINFOobjective_server_nodeinstance_id: "" ×16 + 0.16sINFOobjective_server_node ×16 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793755184.52738142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793755184.59754753 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.87sINFOmove_groupClearing octomap...[0m ×4 + 0.87sINFOmove_groupOctomap cleared.[0m ×4 + 0.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_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: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_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 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.39sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2

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

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866314 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866314 ms (missed cycles : 5).[0m ×2

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982743 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.10sINFOobjective_server_nodecaller: ×14 + 0.10sINFOobjective_server_nodetype: 0 ×14 + 0.10sINFOobjective_server_nodename: "" ×14 + 0.10sINFOobjective_server_nodeinstance_id: "" ×14 + 0.10sINFOobjective_server_node ×14 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793755185.19250631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.15sINFOmove_groupClearing octomap...[0m ×4 + 0.15sINFOmove_groupOctomap cleared.[0m ×4 + 0.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793755185.21267009 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793755185.81622696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793755185.87639809 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297509 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793755186.57544184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793755186.63559866 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389557 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793755187.32714772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793755187.33739948 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793755187.92476916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793755188.07535124 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409536 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793755188.68426752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793755188.73444271 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160715 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793755189.33459687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037120 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762142 ms (missed cycles : 5).[0m ×2