MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

17.1s

Avg test time

100%

Objective pass rate

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5 pass

✓ passed	—	test_base_link_has_single_tf_parent	23.6s	6 errors · 321 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/2026-11-02-16-15-53-220582-4467d2d107dc-7975 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.30sINFOstatic_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' + 4.31sINFOstatic_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' + 4.33sINFOstatic_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' + 4.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.43sINFOcontroller_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. + 4.48sINFOcontroller_serverCreating controller server + 4.52sINFOlocal_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. + 4.52sINFOlocal_costmap.local_costmapCreating Costmap + 4.54sINFOros2_control_node-13process started with pid [8140] ×2 + 4.54sINFOmove_group-25process started with pid [8189] ×2 + 4.54sINFOparameter_manager_node-26process started with pid [8190] ×2 + 4.54sINFOwaypoint_manager_node-27process started with pid [8191] ×2 + 4.54sINFOmove_joint_resampler_node-28process started with pid [8199] ×2 + 4.54sINFOmove_end_effector_resampler_node-29process started with pid [8200] ×2 + 4.54sINFOobjective_server_node_main-30process started with pid [8201] ×2 + 4.54sINFOcomponent_container_mt-31process started with pid [8202] ×2 + 4.54sINFOcomponent_container_mt-32process started with pid [8203] ×2 + 4.54sINFOexecute_objective_bridge-33process started with pid [8204] ×2 + 4.54sINFOui_teleop_bridge-34process started with pid [8205] ×2 + 4.54sINFOweb_bridge-35process started with pid [8206] ×2 + 4.54sINFOtf_visualization_relay-36process started with pid [8207] ×2 + 4.54sINFOjoint_state_visualization_relay-37process started with pid [8208] ×2 + 4.54sINFOtf2_web_republisher_node-38process started with pid [8209] ×2 + 4.54sINFOvideo_server-39process started with pid [8210] ×2 + 4.54sINFOweb_bridge_auth_proxy-40process started with pid [8211] ×2 + 4.56sINFOweb_video_auth_proxy-41process started with pid [8212] ×2 + 4.56sINFOcomponent_container_isolated-1process started with pid [8025] ×2 + 4.56sINFOcomponent_container_isolated-2process started with pid [8026] ×2 + 4.56sINFOstatic_transform_publisher-3process started with pid [8027] ×2 + 4.56sINFOodom_world_drift-4process started with pid [8028] ×2 + 4.56sINFOlidar_flattener.py-5process started with pid [8029] ×2 + 4.56sINFOstatic_transform_publisher-6process started with pid [8030] ×2 + 4.56sINFOstatic_transform_publisher-7process started with pid [8031] ×2 + 4.56sINFOscan_to_scan_filter_chain-8process started with pid [8032] ×2 + 4.56sINFOscan_to_scan_filter_chain-9process started with pid [8033] ×2 + 4.56sINFOrelay-10process started with pid [8137] ×2 + 4.56sINFOrelay-11process started with pid [8138] ×2 + 4.56sINFOfixed_lag_smoother_node-12process started with pid [8139] ×2 + 4.56sINFOros2-14process started with pid [8141] ×2 + 4.56sINFOros2-15process started with pid [8142] ×2 + 4.56sINFOros2-16process started with pid [8143] ×2 + 4.56sINFOros2-17process started with pid [8144] ×2 + 4.56sINFOros2-18process started with pid [8145] ×2 + 4.56sINFOros2-19process started with pid [8146] ×2 + 4.56sINFOros2-20process started with pid [8151] ×2 + 4.56sINFOros2-21process started with pid [8154] ×2 + 4.56sINFOros2-22process started with pid [8161] ×2 + 4.56sINFOros2-23process started with pid [8163] ×2 + 4.56sINFOros2-24process started with pid [8164] ×2 + 4.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.60sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.62sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.62sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.62sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.62sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.62sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.62sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.64sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.64sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.64sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.65sINFOstate_estimatorReceived a set_pose request (stamp: 1793636159655263184, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.65sINFOsmoother_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. + 4.70sINFOsmoother_serverCreating smoother server + 4.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.72sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.74sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.77sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.77sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.77sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.77sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.78sINFOplanner_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. + 4.79sINFOplanner_serverCreating + 4.80sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.80sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.81sINFOcontroller_managerupdate rate is 600 Hz + 4.81sINFOcontroller_managerOverruns handling is : enabled + 4.81sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.81sWARNcontroller_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. + 4.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.81sWARNros2_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 + 4.82sINFOmap_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. + 4.82sINFOmap_serverCreating + 4.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.83sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.87sINFOglobal_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. + 4.88sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.88sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.89sINFOglobal_costmap.global_costmapCreating Costmap + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.216689 ms (missed cycles : 7). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.216689 ms (missed cycles : 7).[0m ×2 + 4.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.95sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.95sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.96sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.98sINFObehavior_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. + 4.98sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.99sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.00sINFOlifecycle_manager_localizationCreating + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.03sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.04sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.04sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.04sINFOmap_serverConfiguring + 5.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.04sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.13sINFObt_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. + 5.14sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.14sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.14sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.15sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.17sINFObt_navigatorCreating + 5.18sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.18sINFOamclConfiguring + 5.18sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.18sINFOmap_serverActivating + 5.19sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.20sINFOrobot_state_publisherRobot initialized + 5.20sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.20sINFOvideo_server2026/11/02 16:16:00 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.20sINFOvideo_server2026/11/02 16:16:00 INF configuration loaded from /tmp/moveit-webrtc-3p544th9/mediamtx.yml ×2 + 5.20sINFOvideo_server2026/11/02 16:16:00 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.20sINFOvideo_server2026/11/02 16:16:00 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.20sINFOcontroller_managerReceived robot description from topic. + 5.20sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.20sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.20sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.25sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.25sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.27sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.28sINFOwaypoint_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. + 5.29sINFOwaypoint_followerCreating + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.30sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.30sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.30sINFOamclActivating + 5.30sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.31sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 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. + 5.32sWARNscan_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 + 5.32sINFOamclSubscribed to map_topic: /map + 5.32sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.33sINFOamclCreated reinitialize_global_localization service + 5.33sINFOamclCreated request_nomotion_update service + 5.33sINFOamclA new map was received + 5.33sINFOamclInitializing particle filter instance + 5.33sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.36sINFOvelocity_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. + 5.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.36sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.42sINFOlifecycle_manager_navigationCreating + 5.42sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.44sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.49sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.49sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.49sINFOcontroller_serverConfiguring controller interface + 5.49sINFOcontroller_servergetting progress checker plugins.. + 5.49sINFOcontroller_servergetting goal checker plugins.. + 5.49sINFOcontroller_serverController frequency set to 20.0000Hz + 5.49sINFOlocal_costmap.local_costmapConfiguring + 5.51sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.53sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.619768 seconds + 5.53sINFOmove_groupLoaded robot model in 0.619768 seconds[0m ×2 + 5.53sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.53sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.54sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.54sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.54sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.61sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.61sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.61sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.64sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.64sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.66sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.67sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.68sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.68sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.68sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.71sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.73sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.73sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.73sINFOweb_video_auth_proxy2026-11-02 16:16:00,737 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 5.73sINFOweb_video_auth_proxy2026-11-02 16:16:00,739 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 5.74sINFOweb_bridge_auth_proxy2026-11-02 16:16:00,746 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 5.75sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.75sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.75sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.75sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.76sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.76sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.76sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.76sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.76sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.77sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.77sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.77sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.78sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.78sINFOcontroller_serverOptimizer reset ×2 + 5.79sINFOcontroller_serverController Server has FollowPath controllers available. + 5.79sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.80sINFOsmoother_serverConfiguring smoother server + 5.83sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.84sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.87sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.88sINFOplanner_serverConfiguring + 5.88sINFOglobal_costmap.global_costmapConfiguring + 5.88sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.89sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.89sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.89sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.90sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.93sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.93sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.93sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.99sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.99sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.99sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.00sINFOplanner_serverPlanner Server has GridBased planners available. + 6.03sINFOamclParticle filter initialization completed + 6.03sINFOamclInitializing particles from estimated pose and covariance + 6.03sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.03sINFObehavior_serverConfiguring + 6.03sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.04sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227331 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227331 ms (missed cycles : 2).[0m ×2 + 6.05sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.05sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.06sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.06sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.07sINFObehavior_serverConfiguring spin + 6.09sINFObehavior_serverConfiguring backup + 6.10sINFObehavior_serverConfiguring drive_on_heading + 6.11sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.11sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.11sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.11sINFObehavior_serverConfiguring assisted_teleop + 6.12sINFObehavior_serverConfiguring wait + 6.14sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.14sINFObt_navigatorConfiguring + 6.14sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.16sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.17sWARNbt_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 + 6.24sINFOwaypoint_manager_nodeLoaded robot model in 0.458797 seconds[0m ×2 + 6.24sWARNmove_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. + 6.24sWARNmove_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. + 6.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.24sWARNmove_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 + 6.24sWARNmove_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 + 6.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.24sWARNmove_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. + 6.24sWARNmove_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. + 6.24sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.24sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.24sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.24sWARNmove_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. + 6.24sWARNmove_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. + 6.24sWARNmove_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 + 6.24sWARNmove_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 + 6.24sWARNmove_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 + 6.24sWARNmove_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 + 6.36sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.40sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.40sINFOwaypoint_followerConfiguring + 6.43sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.44sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.44sINFOvelocity_smootherConfiguring velocity smoother + 6.45sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.45sINFOcontroller_serverActivating + 6.45sINFOlocal_costmap.local_costmapActivating + 6.45sINFOlocal_costmap.local_costmapChecking transform + 6.45sINFOlocal_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 ×11 + 6.59sINFOmove_group[2026-11-02 16:16:01.598] [moveit_pro_license] [info] ×2 + 6.59sINFOmove_group************************************************* ×4 + 6.59sINFOmove_group* MoveIt Pro License ×2 + 6.59sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.88sINFOwaypoint_manager_node[2026-11-02 16:16:01.887] [moveit_pro_license] [info] ×2 + 6.88sINFOwaypoint_manager_node************************************************* ×4 + 6.88sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.88sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.95sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.95sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.95sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.95sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.99sINFOros2_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 + 6.99sINFOros2_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 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.00sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.00sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.00sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.00sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.00sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.00sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.00sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.00sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.01sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.01sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.01sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.01sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.01sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.01sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.01sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.01sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.01sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.01sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.01sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.01sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807856 ms (missed cycles : 3). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807856 ms (missed cycles : 3).[0m ×2 + 7.35sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.36sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.37sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.78sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.78sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.78sINFOros2_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 + 7.78sWARNros2_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 + 7.78sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.78sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.78sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.78sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.78sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.78sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.78sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.79sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.79sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.79sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.79sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.79sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.79sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.79sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.79sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.79sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.79sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.79sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.79sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.79sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.79sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.79sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.79sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.79sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.79sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.79sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.79sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.85sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.85sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.91sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.91sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.91sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 7.91sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 7.96sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.96sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.96sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.96sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.01sINFOforce_torque_sensor_broadcasterconfigure successful + 8.01sINFOros2_control_nodeconfigure successful[0m ×6 + 8.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.01sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.01sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.01sINFOcontroller_managerSuccessfully switched controllers! ×19 + 8.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 8.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.06sINFOros2_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 + 8.06sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.06sWARNros2_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 + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321290 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321290 ms (missed cycles : 3).[0m ×2 + 8.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.23sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.27sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.27sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.27sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.27sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.28sINFOobjective_server_node[2026-11-02 16:16:03.287] [moveit_pro_license] [info] ×2 + 8.28sINFOobjective_server_node************************************************* ×4 + 8.28sINFOobjective_server_node* MoveIt Pro License ×2 + 8.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.31sINFOros2-14process has finished cleanly [pid 8141] ×2 + 8.37sINFOobjective_server_nodeLoaded robot model in 0.0395363 seconds[0m ×2 + 8.38sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.38sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.39sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.42sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 8.42sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 8.42sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.42sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.42sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.42sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.42sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.42sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.43sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.43sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.43sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.43sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.43sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.43sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.43sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.44sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.44sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.45sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.45sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.45sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.45sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.45sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.45sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.45sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.46sWARNcomponent_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 + 8.49sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.49sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.50sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.79sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.81sINFOstreaming_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) + 8.81sINFOcomponent_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 + 8.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.82sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.83sINFOcomponent_container_mtLoaded robot model in 0.375193 seconds[0m ×2 + 8.83sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.83sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.94sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.95sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.96sWARNobjective_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 + 9.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.01sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.03sINFOros2_control_node[2026-11-02 16:16:04.033] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.03sINFOros2_control_node[2026-11-02 16:16:04.038] [info] Controller state will be published at 10 Hz. ×2 + 9.03sINFOros2_control_node[2026-11-02 16:16:04.039] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.03sINFOmove_groupMoveGroup debug mode is ON + 9.03sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.04sINFOobjective_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 + 9.04sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.07sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.09sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.09sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.20sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.20sINFOmove_group ×8 + 9.20sINFOmove_group****************************************************** ×4 + 9.20sINFOmove_group* MoveGroup using: ×2 + 9.20sINFOmove_group* - apply_planning_scene_service ×2 + 9.20sINFOmove_group* - clear_octomap_service ×2 + 9.20sINFOmove_group* - get_group_urdf ×2 + 9.20sINFOmove_group* - load_geometry_from_file ×2 + 9.20sINFOmove_group* - get_planning_scene_service ×2 + 9.20sINFOmove_group* - kinematics_service ×2 + 9.20sINFOmove_group* - save_geometry_to_file ×2 + 9.20sINFOmove_group* - GetPlanningGroups ×2 + 9.20sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.20sINFOmove_group[0m ×2 + 9.20sINFOmove_group[92mYou can start planning now![0m ×2 + 9.26sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.27sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877721 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877721 ms (missed cycles : 2).[0m ×2 + 9.36sWARNplanning_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. + 9.36sWARNcomponent_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 + 9.36sWARNplanning_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. + 9.36sWARNcomponent_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 + 9.36sWARNplanning_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. + 9.36sWARNplanning_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. + 9.36sWARNcomponent_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 + 9.36sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.37sWARNcomponent_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 + 9.37sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNcomponent_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 + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sWARNcomponent_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 + 9.38sWARNplanning_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. + 9.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 9.38sWARNcomponent_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 + 9.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 9.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 9.38sWARNplanning_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. + 9.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 9.38sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.39sWARNplanning_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. + 9.39sWARNcomponent_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 + 9.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 9.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 9.41sINFOros2-21process has finished cleanly [pid 8154] ×2 + 9.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 9.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 9.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 9.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 9.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 9.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 9.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 9.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 9.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 9.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 9.65sINFOcomponent_container_mt[2026-11-02 16:16:04.658] [moveit_pro_license] [info] ×2 + 9.65sINFOcomponent_container_mt************************************************* ×4 + 9.65sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.65sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.81sWARNros2_control_nodeCamera render tick took 0.81 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 + 9.81sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.81sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.81sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.81sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 9.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 9.83sINFOros2-16process has finished cleanly [pid 8143] ×2 + 9.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 9.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 9.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 9.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 9.94sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 9.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 9.94sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 9.94sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 9.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 9.94sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 9.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 9.94sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 9.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 9.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 9.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.06sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.06sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019064 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019064 ms (missed cycles : 2).[0m ×2 + 10.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.30sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.30sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.30sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.30sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.33sINFOros2-20process has finished cleanly [pid 8151] ×2 + 10.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 10.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 10.44sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.44sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.81sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793636164.006 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.97sINFOros2_control_node[2026-11-02 16:16:05.980] [info] Controller state will be published at 20 Hz. ×2 + 10.98sINFOros2_control_node[2026-11-02 16:16:05.982] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.29sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.29sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.29sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.29sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.29sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 11.29sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724059 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724059 ms (missed cycles : 2).[0m ×2 + 11.33sINFOros2-24process has finished cleanly [pid 8164] ×2 + 11.35sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.35sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.35sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.35sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.35sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.35sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.36sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.36sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 11.66sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.66sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.67sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 11.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 11.70sINFOros2-15process has finished cleanly [pid 8142] ×2 + 11.75sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.75sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.76sINFOplatform_velocity_controller_nav2configure successful + 11.95sINFOlocal_costmap.local_costmapstart + 11.99sINFOamclParticle filter update iteration stats: 1830 particles 811 points - 25.206ms + 12.05sWARNcontroller_serverParameter controller_server.verbose not found + 12.05sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.09sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 12.09sINFOcontroller_managerLoading controller 'vacuum_gripper' + 12.09sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 12.09sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 12.09sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 12.09sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 12.12sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 12.12sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 12.13sINFOros2-19process has finished cleanly [pid 8146] ×2 + 12.15sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 12.15sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 12.16sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.16sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.16sINFOsmoother_serverActivating + 12.16sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.16sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 12.16sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 12.16sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 12.16sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 12.17sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 12.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 12.17sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 12.17sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 12.26sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.26sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.26sINFOplanner_serverActivating + 12.27sINFOglobal_costmap.global_costmapActivating + 12.27sINFOglobal_costmap.global_costmapChecking transform + 12.27sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1793636167.231128, but only time 1793636167.611279 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962987 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962987 ms (missed cycles : 3).[0m ×2 + 12.50sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.50sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.50sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.50sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 12.50sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.50sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 12.50sINFOros2-18process has finished cleanly [pid 8145] ×2 + 12.56sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.56sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.56sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.56sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 12.77sINFOglobal_costmap.global_costmapstart + 12.98sINFOros2_control_node[2026-11-02 16:16:07.990] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.99sINFOros2_control_node[2026-11-02 16:16:07.992] [info] Controller state will be published at 10 Hz. ×2 + 12.99sINFOros2_control_node[2026-11-02 16:16:07.994] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.32sINFOros2-22process has finished cleanly [pid 8161] ×2 + 13.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.32sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.32sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 13.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.32sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378000 ms (missed cycles : 3). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378000 ms (missed cycles : 3).[0m ×2 + 13.38sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.38sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.38sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.38sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.39sINFOplatform_velocity_controllerconfigure successful + 13.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.40sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 13.40sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.72sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.72sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.72sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 13.72sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l + 13.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9dt5r7y3 --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_fq6lsmen --params-file /tmp/launch_params_v_zn968l [0m ×2 + 13.73sINFOros2-17process has finished cleanly [pid 8144] ×2 + 13.79sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 13.79sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 13.79sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.79sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.82sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.82sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.92sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.92sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.92sINFObehavior_serverActivating + 13.93sINFObehavior_serverActivating spin + 13.93sINFObehavior_serverActivating backup + 13.93sINFObehavior_serverActivating drive_on_heading + 13.93sINFObehavior_serverActivating assisted_teleop + 13.93sINFObehavior_serverActivating wait + 13.93sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.03sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.03sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.03sINFObt_navigatorActivating + 14.12sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.16sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 14.22sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.22sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.22sINFOwaypoint_followerActivating + 14.22sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.29sINFOros2_control_node[2026-11-02 16:16:09.293] [info] Controller state will be published at 20 Hz. ×2 + 14.29sINFOros2_control_node[2026-11-02 16:16:09.294] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.33sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.33sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.33sINFOvelocity_smootherActivating + 14.33sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722437 ms (missed cycles : 4). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722437 ms (missed cycles : 4).[0m ×2 + 14.44sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.44sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.44sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.65sINFOros2-23process has finished cleanly [pid 8163] ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684237 ms (missed cycles : 3). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684237 ms (missed cycles : 3).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567076 ms (missed cycles : 4). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567076 ms (missed cycles : 4).[0m ×2 + 17.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 17.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 17.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 17.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 17.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 17.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 17.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 17.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977760 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977760 ms (missed cycles : 2).[0m ×2 + 17.83sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123462 ms (missed cycles : 4). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123462 ms (missed cycles : 4).[0m ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685408 ms (missed cycles : 3). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685408 ms (missed cycles : 3).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974626 ms (missed cycles : 3). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974626 ms (missed cycles : 3).[0m ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4).[0m ×2 + 22.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.91sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 22.91sINFOobjective_server_nodeobjective_name: "" ×12 + 22.91sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 22.91sINFOobjective_server_node ×56 + 22.91sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.91sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 22.91sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 22.91sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 22.91sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 22.91sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 22.91sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 22.91sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 22.91sINFOobjective_server_node</Control> ×24 + 22.91sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 22.91sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 22.91sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.92sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 22.92sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 22.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 22.92sINFOobjective_server_nodecaller: ×14 + 22.92sINFOobjective_server_nodetype: 0 ×14 + 22.92sINFOobjective_server_nodename: "" ×14 + 22.92sINFOobjective_server_nodeinstance_id: "" ×14 + 22.96sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636177.96511054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.06sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.06533599 seconds ×3 + 23.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 23.12sINFOobjective_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 + 23.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 23.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.79sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 23.83sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 23.91sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 23.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.05sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 24.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.60sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 24.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 24.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.92sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 25.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 25.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 25.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 25.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 25.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 25.52sINFOmove_groupClearing octomap...[0m ×2 + 25.52sINFOmove_groupOctomap cleared.[0m ×2 + 25.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 25.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 25.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3
✓ passed	—	placed	0.9s	6 errors · 21 warnings · 641 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685408 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685408 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974626 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974626 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3).[0m ×2 + 2.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 3.33sINFOobjective_server_nodeobjective_name: "" ×12 + 3.33sINFOobjective_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 + 3.33sINFOobjective_server_node ×60 + 3.33sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.33sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.33sINFOobjective_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 + 3.33sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.33sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.33sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.33sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.33sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.33sINFOobjective_server_node</Control> ×24 + 3.33sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.33sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.33sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.33sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.33sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×18 + 3.33sINFOobjective_server_nodecaller: ×18 + 3.33sINFOobjective_server_nodetype: 0 ×18 + 3.33sINFOobjective_server_nodename: "" ×18 + 3.33sINFOobjective_server_nodeinstance_id: "" ×18 + 3.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636177.96511054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.06533599 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 3.54sINFOobjective_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 + 3.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_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=\"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: "" + 4.20sINFOobjective_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 + 4.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 4.33sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 5.01sINFOobjective_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: "" + 5.02sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.93sINFOmove_groupClearing octomap...[0m ×2 + 5.93sINFOmove_groupOctomap cleared.[0m ×2 + 5.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 6.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 7.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 7.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3
✓ passed	—	release_fails	0.9s	6 errors · 21 warnings · 741 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3).[0m ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4).[0m ×2 + 1.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.23sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.23sINFOobjective_server_nodeobjective_name: "" ×12 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_node ×64 + 1.23sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.23sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.23sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.23sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.23sINFOobjective_server_node</Control> ×24 + 1.23sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.23sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.23sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.23sINFOobjective_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 + 1.23sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.23sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.23sINFOobjective_server_nodecaller: ×22 + 1.23sINFOobjective_server_nodetype: 0 ×22 + 1.23sINFOobjective_server_nodename: "" ×22 + 1.23sINFOobjective_server_nodeinstance_id: "" ×22 + 1.27sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636177.96511054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.06533599 seconds ×3 + 1.43sINFOobjective_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 + 1.43sINFOobjective_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 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 2.10sINFOobjective_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: "" + 2.10sINFOobjective_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 + 2.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 2.22sINFOobjective_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 + 2.29sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 2.91sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 2.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 5.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 6.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3
✓ passed	—	hover_fails	0.8s	6 errors · 21 warnings · 691 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974626 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974626 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3).[0m ×2 + 1.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.17sINFOros2_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 5.235118 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.24sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.24sINFOobjective_server_nodeobjective_name: "" ×12 + 2.24sINFOobjective_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 + 2.24sINFOobjective_server_node ×62 + 2.24sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.24sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.24sINFOobjective_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 + 2.24sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.24sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.24sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.24sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.24sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.24sINFOobjective_server_node</Control> ×24 + 2.24sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.24sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.24sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.24sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.24sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.24sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.24sINFOobjective_server_nodecaller: ×20 + 2.24sINFOobjective_server_nodetype: 0 ×20 + 2.24sINFOobjective_server_nodename: "" ×20 + 2.24sINFOobjective_server_nodeinstance_id: "" ×20 + 2.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636177.96511054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.06533599 seconds ×3 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 2.45sINFOobjective_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 + 2.49sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.12sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 3.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 3.24sINFOobjective_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 + 3.30sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.80sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.84sINFOmove_groupClearing octomap...[0m ×2 + 4.84sINFOmove_groupOctomap cleared.[0m ×2 + 4.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 6.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 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 3.685408 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685408 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974626 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974626 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623295 ms (missed cycles : 3).[0m ×2 + 2.24sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.24sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.33sINFOobjective_server_nodeobjective_name: "" ×12 + 3.33sINFOobjective_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 + 3.33sINFOobjective_server_node ×58 + 3.33sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.33sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.33sINFOobjective_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 + 3.33sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.33sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.33sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.33sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.33sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.33sINFOobjective_server_node</Control> ×24 + 3.33sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.33sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.33sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.33sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.33sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.33sINFOobjective_server_nodecaller: ×16 + 3.33sINFOobjective_server_nodetype: 0 ×16 + 3.33sINFOobjective_server_nodename: "" ×16 + 3.33sINFOobjective_server_nodeinstance_id: "" ×16 + 3.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636177.96511054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.06533599 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 3.54sINFOobjective_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 + 3.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_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=\"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: "" + 4.20sINFOobjective_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 + 4.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 4.33sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 5.01sINFOobjective_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: "" + 5.02sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 5.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.93sINFOmove_groupClearing octomap...[0m ×2 + 5.93sINFOmove_groupOctomap cleared.[0m ×2 + 5.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 6.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOvacuum_gripperReceived & accepted new action goal + 6.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2

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

15 pass27 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.4s	3 errors · 247 warnings · 289 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042238 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042238 ms (missed cycles : 3).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.194ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812482 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812482 ms (missed cycles : 3).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.727ms + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.184ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960184 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960184 ms (missed cycles : 3).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.437ms + 2.82sINFOobjective_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 + 2.83sINFOjoint_trajectory_controllerGot request to cancel goal + 2.83sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.83sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.83sERRORobjective_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: 1793636396.58187675 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOstate_estimatorReceived a set_pose request (stamp: 1793636396604601740, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.417ms + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989026 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989026 ms (missed cycles : 3).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.783ms + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793636397.18659687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916944 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916944 ms (missed cycles : 3).[0m ×2 + 5.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.07sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.07sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545638 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545638 ms (missed cycles : 3).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.369ms + 6.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.08sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.08sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522760 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522760 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001440 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001440 ms (missed cycles : 2).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.514ms + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518307 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518307 ms (missed cycles : 2).[0m ×2 + 8.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.190ms + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369257 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369257 ms (missed cycles : 3).[0m ×2 + 9.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.552ms + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.671ms + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847380 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847380 ms (missed cycles : 2).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.485ms + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693482 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693482 ms (missed cycles : 2).[0m ×2 + 11.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.520ms + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.768ms + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305844 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305844 ms (missed cycles : 3).[0m ×2 + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.400ms + 13.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.391ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101171 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101171 ms (missed cycles : 3).[0m ×2 + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.261ms + 14.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.529ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785269 ms (missed cycles : 2). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785269 ms (missed cycles : 2).[0m ×2 + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.917ms + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896382 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896382 ms (missed cycles : 3).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.343ms + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.076ms + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017293 ms (missed cycles : 4). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017293 ms (missed cycles : 4).[0m ×2 + 17.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.342ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944475 ms (missed cycles : 5). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944475 ms (missed cycles : 5).[0m ×2 + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.594ms + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.933ms + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354461 ms (missed cycles : 2). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354461 ms (missed cycles : 2).[0m ×2 + 19.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 19.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.927ms + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.314ms + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347013 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347013 ms (missed cycles : 2).[0m ×2 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.126ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017282 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017282 ms (missed cycles : 3).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.406ms + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.057ms + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910330 ms (missed cycles : 2). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910330 ms (missed cycles : 2).[0m ×2 + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.840ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022878 ms (missed cycles : 3). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022878 ms (missed cycles : 3).[0m ×2 + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.101ms + 24.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.321ms + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799757 ms (missed cycles : 3). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799757 ms (missed cycles : 3).[0m ×2 + 24.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.973ms + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895294 ms (missed cycles : 2). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895294 ms (missed cycles : 2).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.056ms + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.343ms + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721123 ms (missed cycles : 4). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721123 ms (missed cycles : 4).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.655ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539491 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539491 ms (missed cycles : 2).[0m ×2 + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.187ms + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.096ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241269 ms (missed cycles : 5). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241269 ms (missed cycles : 5).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.234ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784056 ms (missed cycles : 3). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784056 ms (missed cycles : 3).[0m ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.322ms + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.631ms + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273511 ms (missed cycles : 4). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273511 ms (missed cycles : 4).[0m ×2 + 31.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.269ms + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540566 ms (missed cycles : 3). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540566 ms (missed cycles : 3).[0m ×2 + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.230ms + 32.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.635ms + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961300 ms (missed cycles : 3). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961300 ms (missed cycles : 3).[0m ×2 + 33.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.281ms + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419726 ms (missed cycles : 2). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419726 ms (missed cycles : 2).[0m ×2 + 34.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.978ms + 34.45sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.45sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829932 ms (missed cycles : 3). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829932 ms (missed cycles : 3).[0m ×2 + 35.12sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.07sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026829 ms (missed cycles : 4). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026829 ms (missed cycles : 4).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667678 ms (missed cycles : 2). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667678 ms (missed cycles : 2).[0m ×2 + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244455 ms (missed cycles : 4). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244455 ms (missed cycles : 4).[0m ×2 + 38.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.127ms + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878152 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878152 ms (missed cycles : 2).[0m ×2 + 39.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.088ms + 40.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.292ms + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824022 ms (missed cycles : 2). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824022 ms (missed cycles : 2).[0m ×2 + 40.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.883ms + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710734 ms (missed cycles : 2). + 41.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710734 ms (missed cycles : 2).[0m ×2 + 41.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822833 ms (missed cycles : 4). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822833 ms (missed cycles : 4).[0m ×2 + 42.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.921ms + 43.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946367 ms (missed cycles : 6). + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.946367 ms (missed cycles : 6).[0m ×2 + 44.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.057ms + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686380 ms (missed cycles : 2). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686380 ms (missed cycles : 2).[0m ×2 + 44.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.240ms + 45.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360971 ms (missed cycles : 5). + 45.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360971 ms (missed cycles : 5).[0m ×2 + 45.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.066ms + 46.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.496ms + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698233 ms (missed cycles : 3). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698233 ms (missed cycles : 3).[0m ×2 + 46.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851416 ms (missed cycles : 2). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851416 ms (missed cycles : 2).[0m ×2 + 47.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.602ms + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958615 ms (missed cycles : 5). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958615 ms (missed cycles : 5).[0m ×2 + 48.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.261ms + 49.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.701ms + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480161 ms (missed cycles : 3). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480161 ms (missed cycles : 3).[0m ×2 + 50.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.764ms + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013625 ms (missed cycles : 4). + 50.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013625 ms (missed cycles : 4).[0m ×2 + 50.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.035ms + 51.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.269ms + 51.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491709 ms (missed cycles : 5). + 51.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491709 ms (missed cycles : 5).[0m ×2 + 52.00sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 52.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536078 ms (missed cycles : 4). + 52.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536078 ms (missed cycles : 4).[0m ×2 + 53.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927332 ms (missed cycles : 3). + 53.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927332 ms (missed cycles : 3).[0m ×2 + 54.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132528 ms (missed cycles : 3). + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132528 ms (missed cycles : 3).[0m ×2 + 55.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817745 ms (missed cycles : 3). + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817745 ms (missed cycles : 3).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.187ms + 56.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.060ms + 56.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863047 ms (missed cycles : 5). + 56.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863047 ms (missed cycles : 5).[0m ×2 + 57.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.213ms + 57.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663501 ms (missed cycles : 5). + 57.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663501 ms (missed cycles : 5).[0m ×2 + 58.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.689ms + 58.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.500ms + 58.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503689 ms (missed cycles : 3). + 58.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503689 ms (missed cycles : 3).[0m ×2 + 59.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.099ms + 60.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354240 ms (missed cycles : 3). + 60.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354240 ms (missed cycles : 3).[0m ×2 + 60.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.078ms + 60.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.222ms + 61.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848162 ms (missed cycles : 2). + 61.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848162 ms (missed cycles : 2).[0m ×2 + 61.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.612ms + 62.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234158 ms (missed cycles : 2). + 62.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234158 ms (missed cycles : 2).[0m ×2 + 62.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.656ms + 63.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.366ms + 63.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234122 ms (missed cycles : 3). + 63.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234122 ms (missed cycles : 3).[0m ×2 + 63.71sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 64.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607996 ms (missed cycles : 3). + 64.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607996 ms (missed cycles : 3).[0m ×2 + 65.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702538 ms (missed cycles : 2). + 65.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702538 ms (missed cycles : 2).[0m ×2 + 65.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.593ms + 66.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933131 ms (missed cycles : 2). + 66.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933131 ms (missed cycles : 2).[0m ×2 + 67.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266046 ms (missed cycles : 2). + 67.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266046 ms (missed cycles : 2).[0m ×2 + 68.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.166ms + 68.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156792 ms (missed cycles : 5). + 68.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156792 ms (missed cycles : 5).[0m ×2 + 69.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.013ms + 69.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542268 ms (missed cycles : 3). + 69.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542268 ms (missed cycles : 3).[0m ×2 + 69.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.626ms + 70.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.136ms + 70.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.386ms + 70.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831042 ms (missed cycles : 4). + 70.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831042 ms (missed cycles : 4).[0m ×2 + 71.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.856ms + 71.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.119ms + 71.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822534 ms (missed cycles : 3). + 71.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822534 ms (missed cycles : 3).[0m ×2 + 72.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.594ms + 72.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.245ms + 72.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533932 ms (missed cycles : 4). + 72.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533932 ms (missed cycles : 4).[0m ×2 + 73.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.564ms + 73.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.646ms + 73.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 73.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289953 ms (missed cycles : 3). + 73.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289953 ms (missed cycles : 3).[0m ×2 + 74.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.846ms + 74.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640437 ms (missed cycles : 4). + 74.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640437 ms (missed cycles : 4).[0m ×2 + 75.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739900 ms (missed cycles : 2). + 75.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739900 ms (missed cycles : 2).[0m ×2 + 76.26sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793636470.00683188 seconds ×3 + 76.29sINFOstate_estimatorReceived a set_pose request (stamp: 1793636470022844094, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 76.30sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.35) is out of map bounds (-4.05, 5.00) to (0.93, 9.98). The costmap cannot raytrace for it. + 76.30sWARNlocal_costmap.local_costmapSensor origin at (-3.24, 13.99) is out of map bounds (-4.05, 5.00) to (0.93, 9.98). The costmap cannot raytrace for it. + 76.40sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.38) is out of map bounds (-4.05, 5.00) to (0.93, 9.98). The costmap cannot raytrace for it. + 76.40sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.02) is out of map bounds (-4.05, 5.00) to (0.93, 9.98). The costmap cannot raytrace for it. + 76.50sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 76.50sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 76.64sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.163ms + 76.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 76.80sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 76.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793636470.59676909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.99sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 33.658ms + 77.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.017181, yaw=-0.0184006 + 77.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777097 ms (missed cycles : 3). + 77.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777097 ms (missed cycles : 3).[0m ×2 + 77.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.163ms + 78.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900570 ms (missed cycles : 2). + 78.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900570 ms (missed cycles : 2).[0m ×2 + 79.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136054 ms (missed cycles : 3). + 79.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136054 ms (missed cycles : 3).[0m ×2 + 80.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 80.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.5s	191 warnings · 215 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.62sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.87sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.87sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755818 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755818 ms (missed cycles : 2).[0m ×2 + 7.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.873ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898350 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898350 ms (missed cycles : 2).[0m ×2 + 8.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.296ms + 9.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.410ms + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968559 ms (missed cycles : 5). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968559 ms (missed cycles : 5).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.056ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222919 ms (missed cycles : 5). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222919 ms (missed cycles : 5).[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.426ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.791ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231122 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231122 ms (missed cycles : 2).[0m ×2 + 11.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.405ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262639 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262639 ms (missed cycles : 3).[0m ×2 + 12.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.625ms + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.835ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750250 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750250 ms (missed cycles : 3).[0m ×2 + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.293ms + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077744 ms (missed cycles : 3). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077744 ms (missed cycles : 3).[0m ×2 + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.265ms + 15.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.538ms + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484768 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484768 ms (missed cycles : 3).[0m ×2 + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.364ms + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317513 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317513 ms (missed cycles : 2).[0m ×2 + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.675ms + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.616ms + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016324 ms (missed cycles : 3). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016324 ms (missed cycles : 3).[0m ×2 + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.367ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878196 ms (missed cycles : 3). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878196 ms (missed cycles : 3).[0m ×2 + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.148ms + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.223ms + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879585 ms (missed cycles : 3). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879585 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.314ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.470ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368715 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368715 ms (missed cycles : 3).[0m ×2 + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.618ms + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962681 ms (missed cycles : 3). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962681 ms (missed cycles : 3).[0m ×2 + 22.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.299ms + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.746ms + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630106 ms (missed cycles : 3). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630106 ms (missed cycles : 3).[0m ×2 + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.812ms + 23.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411280 ms (missed cycles : 3). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411280 ms (missed cycles : 3).[0m ×2 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.429ms + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.894ms + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183546 ms (missed cycles : 4). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183546 ms (missed cycles : 4).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.540ms + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233608 ms (missed cycles : 2). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233608 ms (missed cycles : 2).[0m ×2 + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.368ms + 26.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.912ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870223 ms (missed cycles : 3). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870223 ms (missed cycles : 3).[0m ×2 + 27.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.591ms + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795169 ms (missed cycles : 2). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795169 ms (missed cycles : 2).[0m ×2 + 28.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.772ms + 29.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.737ms + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805580 ms (missed cycles : 2). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805580 ms (missed cycles : 2).[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.448ms + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403986 ms (missed cycles : 5). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403986 ms (missed cycles : 5).[0m ×2 + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.473ms + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.294ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381642 ms (missed cycles : 2). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381642 ms (missed cycles : 2).[0m ×2 + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.195ms + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766926 ms (missed cycles : 3). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766926 ms (missed cycles : 3).[0m ×2 + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.088ms + 33.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.588ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570805 ms (missed cycles : 4). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570805 ms (missed cycles : 4).[0m ×2 + 34.28sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.31sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868714 ms (missed cycles : 3). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868714 ms (missed cycles : 3).[0m ×2 + 35.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446828 ms (missed cycles : 3). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446828 ms (missed cycles : 3).[0m ×2 + 35.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.901ms + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359556 ms (missed cycles : 3). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359556 ms (missed cycles : 3).[0m ×2 + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048344 ms (missed cycles : 3). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048344 ms (missed cycles : 3).[0m ×2 + 38.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.413ms + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922223 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922223 ms (missed cycles : 2).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132581 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132581 ms (missed cycles : 2).[0m ×2 + 41.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267961 ms (missed cycles : 5). + 41.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267961 ms (missed cycles : 5).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.323ms + 42.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895883 ms (missed cycles : 5). + 42.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895883 ms (missed cycles : 5).[0m ×2 + 42.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.548ms + 43.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847294 ms (missed cycles : 3). + 43.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847294 ms (missed cycles : 3).[0m ×2 + 44.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.454208 ms (missed cycles : 6). + 44.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.454208 ms (missed cycles : 6).[0m ×2 + 44.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.407ms + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611119 ms (missed cycles : 2). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611119 ms (missed cycles : 2).[0m ×2 + 45.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.500ms + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104361 ms (missed cycles : 4). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104361 ms (missed cycles : 4).[0m ×2 + 47.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477256 ms (missed cycles : 3). + 47.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477256 ms (missed cycles : 3).[0m ×2 + 47.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.943ms + 48.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.127ms + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919660 ms (missed cycles : 6). + 48.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919660 ms (missed cycles : 6).[0m ×2 + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793056 ms (missed cycles : 5). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793056 ms (missed cycles : 5).[0m ×2 + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765486 ms (missed cycles : 4). + 50.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765486 ms (missed cycles : 4).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 51.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863429 ms (missed cycles : 3). + 51.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863429 ms (missed cycles : 3).[0m ×2 + 52.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.273ms + 52.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781146 ms (missed cycles : 2). + 52.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781146 ms (missed cycles : 2).[0m ×2 + 53.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940798 ms (missed cycles : 5). + 53.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940798 ms (missed cycles : 5).[0m ×2 + 54.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.415ms + 54.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769352 ms (missed cycles : 3). + 54.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769352 ms (missed cycles : 3).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.079ms + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958044 ms (missed cycles : 3). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958044 ms (missed cycles : 3).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933410 ms (missed cycles : 2). + 56.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933410 ms (missed cycles : 2).[0m ×2 + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763291 ms (missed cycles : 2). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763291 ms (missed cycles : 2).[0m ×2 + 58.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693444 ms (missed cycles : 3). + 58.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693444 ms (missed cycles : 3).[0m ×2 + 59.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 59.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.759ms + 59.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.945544 ms (missed cycles : 5). + 59.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.945544 ms (missed cycles : 5).[0m ×2 + 60.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793636534.01465154 seconds ×3 + 60.21sINFOstate_estimatorReceived a set_pose request (stamp: 1793636534030986702, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.21sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.62) is out of map bounds (-3.90, 2.75) to (1.08, 7.73). The costmap cannot raytrace for it. + 60.21sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.58) is out of map bounds (-3.90, 2.75) to (1.08, 7.73). The costmap cannot raytrace for it. + 60.31sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.90, 2.75) to (1.08, 7.73). The costmap cannot raytrace for it. + 60.31sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.90, 2.75) to (1.08, 7.73). The costmap cannot raytrace for it. + 60.41sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.41sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.787ms + 60.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.71sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793636534.62505937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962751 ms (missed cycles : 5). + 61.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962751 ms (missed cycles : 5).[0m ×2 + 61.20sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 61.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780799 ms (missed cycles : 4). + 62.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780799 ms (missed cycles : 4).[0m ×2 + 62.34sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 62.34sINFOamclInitializing particles from estimated pose and covariance + 62.34sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 62.34sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549507, y=-0.0166277, yaw=-0.0172606 + 62.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.645ms + 63.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944986 ms (missed cycles : 3). + 63.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944986 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.4s	191 warnings · 233 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.135ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.678ms + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.165ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.967ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881647 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881647 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.842ms + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.640ms + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.175ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288742 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288742 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.101ms + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.116ms + 2.85sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.85sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793636233.97327781 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_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 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793636233990867790, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sINFOcontroller_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 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220872 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220872 ms (missed cycles : 2).[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.046ms + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793636234.56872559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (5.32e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137041 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137041 ms (missed cycles : 3).[0m ×2 + 5.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.00sINFOamclInitializing 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 ×2 + 5.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.965ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835294 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835294 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272201 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272201 ms (missed cycles : 3).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475183 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475183 ms (missed cycles : 3).[0m ×2 + 7.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.196ms + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.047ms + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036061 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036061 ms (missed cycles : 3).[0m ×2 + 9.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.148ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274764 ms (missed cycles : 4). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274764 ms (missed cycles : 4).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.323ms + 10.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.258ms + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733076 ms (missed cycles : 4). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733076 ms (missed cycles : 4).[0m ×2 + 11.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.585ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484507 ms (missed cycles : 4). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484507 ms (missed cycles : 4).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.495ms + 12.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.345ms + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856529 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856529 ms (missed cycles : 3).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.542ms + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.445ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588759 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588759 ms (missed cycles : 3).[0m ×2 + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.316ms + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693055 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693055 ms (missed cycles : 3).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.261ms + 15.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.216ms + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997266 ms (missed cycles : 4). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997266 ms (missed cycles : 4).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.467ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741102 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741102 ms (missed cycles : 3).[0m ×2 + 17.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.295ms + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.397ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857229 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857229 ms (missed cycles : 2).[0m ×2 + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.963ms + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.112ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737447 ms (missed cycles : 4). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737447 ms (missed cycles : 4).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.695ms + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654860 ms (missed cycles : 5). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654860 ms (missed cycles : 5).[0m ×2 + 20.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.843ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.192ms + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532279 ms (missed cycles : 3). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532279 ms (missed cycles : 3).[0m ×2 + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.639ms + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211158 ms (missed cycles : 4). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211158 ms (missed cycles : 4).[0m ×2 + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.987ms + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.879ms + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122003 ms (missed cycles : 2). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122003 ms (missed cycles : 2).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.772ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.903ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365987 ms (missed cycles : 3). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365987 ms (missed cycles : 3).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.220ms + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404289 ms (missed cycles : 3). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404289 ms (missed cycles : 3).[0m ×2 + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.332ms + 26.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.827ms + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606307 ms (missed cycles : 3). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606307 ms (missed cycles : 3).[0m ×2 + 27.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.963ms + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796300 ms (missed cycles : 2). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796300 ms (missed cycles : 2).[0m ×2 + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.378ms + 28.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.587ms + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536104 ms (missed cycles : 4). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536104 ms (missed cycles : 4).[0m ×2 + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.357ms + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305807 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305807 ms (missed cycles : 2).[0m ×2 + 29.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.872ms + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.717ms + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826217 ms (missed cycles : 3). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826217 ms (missed cycles : 3).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.938ms + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096982 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096982 ms (missed cycles : 2).[0m ×2 + 32.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.893ms + 32.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.277ms + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773936 ms (missed cycles : 6). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.773936 ms (missed cycles : 6).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.417ms + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668123 ms (missed cycles : 4). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668123 ms (missed cycles : 4).[0m ×2 + 34.45sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.47sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896099 ms (missed cycles : 4). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896099 ms (missed cycles : 4).[0m ×2 + 35.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.921ms + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407426 ms (missed cycles : 3). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407426 ms (missed cycles : 3).[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698527 ms (missed cycles : 4). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698527 ms (missed cycles : 4).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.751ms + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684719 ms (missed cycles : 2). + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684719 ms (missed cycles : 2).[0m ×2 + 38.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.139ms + 39.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.668533 ms (missed cycles : 6). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.668533 ms (missed cycles : 6).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879258 ms (missed cycles : 2). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879258 ms (missed cycles : 2).[0m ×2 + 41.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395160 ms (missed cycles : 4). + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395160 ms (missed cycles : 4).[0m ×2 + 41.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.368ms + 42.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715711 ms (missed cycles : 3). + 42.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715711 ms (missed cycles : 3).[0m ×2 + 42.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.178ms + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213131 ms (missed cycles : 2). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213131 ms (missed cycles : 2).[0m ×2 + 44.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.296ms + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640695 ms (missed cycles : 3). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640695 ms (missed cycles : 3).[0m ×2 + 45.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.851ms + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.770545 ms (missed cycles : 8). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.770545 ms (missed cycles : 8).[0m ×2 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517106 ms (missed cycles : 4). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517106 ms (missed cycles : 4).[0m ×2 + 47.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.026ms + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867827 ms (missed cycles : 5). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867827 ms (missed cycles : 5).[0m ×2 + 48.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.637ms + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849748 ms (missed cycles : 3). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849748 ms (missed cycles : 3).[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556214 ms (missed cycles : 3). + 49.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556214 ms (missed cycles : 3).[0m ×2 + 50.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017937 ms (missed cycles : 2). + 50.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017937 ms (missed cycles : 2).[0m ×2 + 51.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.894ms + 51.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262070 ms (missed cycles : 3). + 51.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262070 ms (missed cycles : 3).[0m ×2 + 52.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674979 ms (missed cycles : 4). + 52.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674979 ms (missed cycles : 4).[0m ×2 + 54.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390777 ms (missed cycles : 3). + 54.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390777 ms (missed cycles : 3).[0m ×2 + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154864 ms (missed cycles : 3). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154864 ms (missed cycles : 3).[0m ×2 + 55.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.147ms + 56.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017527 ms (missed cycles : 3). + 56.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017527 ms (missed cycles : 3).[0m ×2 + 57.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3). + 57.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3).[0m ×2 + 58.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2). + 58.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2).[0m ×2 + 59.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 59.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3). + 59.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3).[0m ×2 + 60.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793636291.37393951 seconds ×3 + 60.31sINFOstate_estimatorReceived a set_pose request (stamp: 1793636291399458107, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.64) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 60.46sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 60.46sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 60.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5). + 60.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5).[0m ×2 + 60.56sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.56sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.71sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.898ms + 60.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793636291.98034549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.30sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 61.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5). + 61.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5).[0m ×2 + 61.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.44sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 62.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 62.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549346, y=-0.016618, yaw=-0.0172395 + 62.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2). + 62.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2).[0m ×2 + 62.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 63.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3). + 63.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.4s	195 warnings · 235 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.297ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.825ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.095ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.62sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793636330.42382741 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_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: 1793636330442692893, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.624ms + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793636331.03163385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3).[0m ×2 + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.81sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.753ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.86sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.86sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.86sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835033 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835033 ms (missed cycles : 3).[0m ×2 + 8.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.732ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204256 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204256 ms (missed cycles : 4).[0m ×2 + 8.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.817ms + 9.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.936ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035607 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035607 ms (missed cycles : 3).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.265ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666277 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666277 ms (missed cycles : 3).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.435ms + 11.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.739ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078696 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078696 ms (missed cycles : 3).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.501ms + 12.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.810ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295714 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295714 ms (missed cycles : 2).[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.397ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076680 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076680 ms (missed cycles : 3).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.075ms + 14.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.157ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018847 ms (missed cycles : 4). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018847 ms (missed cycles : 4).[0m ×2 + 15.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.949ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987059 ms (missed cycles : 3). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987059 ms (missed cycles : 3).[0m ×2 + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.452ms + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.140ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582763 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582763 ms (missed cycles : 3).[0m ×2 + 17.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.178ms + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798056 ms (missed cycles : 3). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798056 ms (missed cycles : 3).[0m ×2 + 18.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.338ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.488ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.750845 ms (missed cycles : 6). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.750845 ms (missed cycles : 6).[0m ×2 + 19.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.270ms + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.291ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938642 ms (missed cycles : 2). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938642 ms (missed cycles : 2).[0m ×2 + 20.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.870ms + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060687 ms (missed cycles : 5). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060687 ms (missed cycles : 5).[0m ×2 + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.958ms + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.133ms + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399312 ms (missed cycles : 4). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399312 ms (missed cycles : 4).[0m ×2 + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.039ms + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000104 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000104 ms (missed cycles : 2).[0m ×2 + 23.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.748ms + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.969ms + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997649 ms (missed cycles : 2). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997649 ms (missed cycles : 2).[0m ×2 + 25.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.659ms + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661768 ms (missed cycles : 4). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661768 ms (missed cycles : 4).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.144ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.503ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253027 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253027 ms (missed cycles : 2).[0m ×2 + 27.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.584ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690616 ms (missed cycles : 3). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690616 ms (missed cycles : 3).[0m ×2 + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.453ms + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.341ms + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740565 ms (missed cycles : 3). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740565 ms (missed cycles : 3).[0m ×2 + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.681ms + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026820 ms (missed cycles : 5). + 29.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026820 ms (missed cycles : 5).[0m ×2 + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.958ms + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.869ms + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709543 ms (missed cycles : 5). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709543 ms (missed cycles : 5).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.816ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337097 ms (missed cycles : 5). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337097 ms (missed cycles : 5).[0m ×2 + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.566ms + 32.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.293ms + 33.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417372 ms (missed cycles : 2). + 33.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417372 ms (missed cycles : 2).[0m ×2 + 33.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.878ms + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182827 ms (missed cycles : 2). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182827 ms (missed cycles : 2).[0m ×2 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943946 ms (missed cycles : 3). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943946 ms (missed cycles : 3).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101322 ms (missed cycles : 2). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101322 ms (missed cycles : 2).[0m ×2 + 36.76sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759830 ms (missed cycles : 2). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759830 ms (missed cycles : 2).[0m ×2 + 37.58sINFOobjective_server_nodePlanning for 48 path waypoints. ×3 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352843 ms (missed cycles : 3). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352843 ms (missed cycles : 3).[0m ×2 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162652 ms (missed cycles : 2). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162652 ms (missed cycles : 2).[0m ×2 + 39.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.533ms + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805408 ms (missed cycles : 3). + 40.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805408 ms (missed cycles : 3).[0m ×2 + 40.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.868ms + 41.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.157ms + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.800ms + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779935 ms (missed cycles : 2). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779935 ms (missed cycles : 2).[0m ×2 + 42.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.955ms + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998463 ms (missed cycles : 3). + 42.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998463 ms (missed cycles : 3).[0m ×2 + 42.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.542ms + 43.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595498 ms (missed cycles : 2). + 43.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595498 ms (missed cycles : 2).[0m ×2 + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017725 ms (missed cycles : 4). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017725 ms (missed cycles : 4).[0m ×2 + 45.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.378ms + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446443 ms (missed cycles : 4). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446443 ms (missed cycles : 4).[0m ×2 + 46.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.452ms + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549078 ms (missed cycles : 5). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549078 ms (missed cycles : 5).[0m ×2 + 47.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.867ms + 47.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.748ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777229 ms (missed cycles : 3). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777229 ms (missed cycles : 3).[0m ×2 + 48.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.812ms + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987185 ms (missed cycles : 5). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987185 ms (missed cycles : 5).[0m ×2 + 49.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.989ms + 49.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.755ms + 49.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101416 ms (missed cycles : 4). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101416 ms (missed cycles : 4).[0m ×2 + 50.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.499ms + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578069 ms (missed cycles : 2). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578069 ms (missed cycles : 2).[0m ×2 + 51.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.368ms + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737809 ms (missed cycles : 2). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737809 ms (missed cycles : 2).[0m ×2 + 52.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.875ms + 53.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.012ms + 53.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574919 ms (missed cycles : 2). + 53.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574919 ms (missed cycles : 2).[0m ×2 + 54.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.239ms + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041346 ms (missed cycles : 6). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041346 ms (missed cycles : 6).[0m ×2 + 55.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.123ms + 55.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994447 ms (missed cycles : 2). + 55.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994447 ms (missed cycles : 2).[0m ×2 + 56.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.083ms + 56.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987813 ms (missed cycles : 3). + 56.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987813 ms (missed cycles : 3).[0m ×2 + 57.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224945 ms (missed cycles : 4). + 57.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224945 ms (missed cycles : 4).[0m ×2 + 57.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.487ms + 58.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793636385.85198545 seconds ×3 + 58.12sINFOstate_estimatorReceived a set_pose request (stamp: 1793636385869265463, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.18sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 11.06) is out of map bounds (-3.40, 1.65) to (1.58, 6.63). The costmap cannot raytrace for it. + 58.18sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.66) is out of map bounds (-3.40, 1.65) to (1.58, 6.63). The costmap cannot raytrace for it. + 58.28sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 11.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 58.28sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 58.41sINFOamclParticle filter update iteration stats: 3700 particles 811 points - 7.815ms + 58.48sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 8.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 58.48sWARNlocal_costmap.local_costmapSensor origin at (-2.11, 8.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087769 ms (missed cycles : 3). + 58.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087769 ms (missed cycles : 3).[0m ×2 + 58.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 58.62sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.69sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793636386.46888947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 33.042ms + 58.78sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 59.11sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 59.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.004ms + 59.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761757 ms (missed cycles : 3). + 59.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761757 ms (missed cycles : 3).[0m ×2 + 60.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713817 ms (missed cycles : 3). + 60.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713817 ms (missed cycles : 3).[0m ×2 + 61.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434923 ms (missed cycles : 3). + 61.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434923 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	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 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.95sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 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 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970331 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970331 ms (missed cycles : 2).[0m ×2 + 7.38sINFOamclParticle filter update iteration stats: 1193 particles 811 points - 9.440ms + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.182621 ms (missed cycles : 6). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.182621 ms (missed cycles : 6).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429124 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429124 ms (missed cycles : 3).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286642 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286642 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836253 ms (missed cycles : 5). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836253 ms (missed cycles : 5).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883733 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883733 ms (missed cycles : 2).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326441 ms (missed cycles : 4). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326441 ms (missed cycles : 4).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098986 ms (missed cycles : 3). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098986 ms (missed cycles : 3).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080517 ms (missed cycles : 4). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080517 ms (missed cycles : 4).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049039 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049039 ms (missed cycles : 2).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021112 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021112 ms (missed cycles : 2).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302476 ms (missed cycles : 2). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302476 ms (missed cycles : 2).[0m ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409412 ms (missed cycles : 3). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409412 ms (missed cycles : 3).[0m ×2 + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.868ms + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583475 ms (missed cycles : 4). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583475 ms (missed cycles : 4).[0m ×2 + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323457 ms (missed cycles : 2). + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323457 ms (missed cycles : 2).[0m ×2 + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371106 ms (missed cycles : 3). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371106 ms (missed cycles : 3).[0m ×2 + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023647 ms (missed cycles : 3). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023647 ms (missed cycles : 3).[0m ×2 + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766850 ms (missed cycles : 3). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766850 ms (missed cycles : 3).[0m ×2 + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316334 ms (missed cycles : 3). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316334 ms (missed cycles : 3).[0m ×2 + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929200 ms (missed cycles : 3). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929200 ms (missed cycles : 3).[0m ×2 + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229515 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229515 ms (missed cycles : 2).[0m ×2 + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652160 ms (missed cycles : 4). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652160 ms (missed cycles : 4).[0m ×2 + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828140 ms (missed cycles : 3). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828140 ms (missed cycles : 3).[0m ×2 + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913885 ms (missed cycles : 3). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913885 ms (missed cycles : 3).[0m ×2 + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940674 ms (missed cycles : 5). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940674 ms (missed cycles : 5).[0m ×2 + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441819 ms (missed cycles : 2). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441819 ms (missed cycles : 2).[0m ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849754 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849754 ms (missed cycles : 2).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773412 ms (missed cycles : 3). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773412 ms (missed cycles : 3).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452579 ms (missed cycles : 4). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452579 ms (missed cycles : 4).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288781 ms (missed cycles : 3). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288781 ms (missed cycles : 3).[0m ×2 + 37.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.736ms + 38.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138737 ms (missed cycles : 3). + 38.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138737 ms (missed cycles : 3).[0m ×2 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480394 ms (missed cycles : 3). + 39.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480394 ms (missed cycles : 3).[0m ×2 + 40.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218002 ms (missed cycles : 3). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218002 ms (missed cycles : 3).[0m ×2 + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707044 ms (missed cycles : 2). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707044 ms (missed cycles : 2).[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593108 ms (missed cycles : 4). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593108 ms (missed cycles : 4).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166818 ms (missed cycles : 4). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166818 ms (missed cycles : 4).[0m ×2 + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967541 ms (missed cycles : 2). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967541 ms (missed cycles : 2).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000265 ms (missed cycles : 5). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000265 ms (missed cycles : 5).[0m ×2 + 46.65sINFOjoint_trajectory_controllerGoal reached, success! + 46.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.69sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793636227.78615975 seconds ×3 + 46.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.72sINFOstate_estimatorReceived a set_pose request (stamp: 1793636227804315638, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759363 ms (missed cycles : 3). + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759363 ms (missed cycles : 3).[0m ×2 + 47.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.24sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793636228.37306285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.30sWARNobjective_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 + 47.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 47.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.33sINFOamclInitializing particles from estimated pose and covariance + 47.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.33sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 47.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.729ms + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179092 ms (missed cycles : 4). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179092 ms (missed cycles : 4).[0m ×2 + 48.43sINFOobjective_server_nodeFound path in 0 iterations (3.1593e-05 s). ×2 + 48.50sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342195 ms (missed cycles : 2). + 48.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342195 ms (missed cycles : 2).[0m ×2 + 49.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.540ms + 50.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.135ms + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2). + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2).[0m ×2 + 50.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.678ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.6s	120 warnings · 184 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838041 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838041 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586770 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586770 ms (missed cycles : 3).[0m ×2 + 2.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853527 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853527 ms (missed cycles : 3).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793636297.81060982 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177946 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177946 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793636299.40362167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772646 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772646 ms (missed cycles : 4).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833519 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833519 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897977 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897977 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072548 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072548 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579114 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579114 ms (missed cycles : 3).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.492ms + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487812 ms (missed cycles : 4). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487812 ms (missed cycles : 4).[0m ×2 + 9.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.945ms + 10.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.051ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824459 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824459 ms (missed cycles : 3).[0m ×2 + 10.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.429ms + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493636 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493636 ms (missed cycles : 3).[0m ×2 + 11.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.650ms + 12.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.521ms + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457896 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457896 ms (missed cycles : 3).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.386ms + 13.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.376ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290260 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290260 ms (missed cycles : 2).[0m ×2 + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.500ms + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542019 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542019 ms (missed cycles : 3).[0m ×2 + 14.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.831ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.318ms + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289377 ms (missed cycles : 3). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289377 ms (missed cycles : 3).[0m ×2 + 16.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.595ms + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758459 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758459 ms (missed cycles : 3).[0m ×2 + 16.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.693ms + 17.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.761ms + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040833 ms (missed cycles : 3). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040833 ms (missed cycles : 3).[0m ×2 + 18.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.264ms + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669810 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669810 ms (missed cycles : 3).[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.013ms + 19.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.114ms + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226207 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226207 ms (missed cycles : 2).[0m ×2 + 20.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.739ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343240 ms (missed cycles : 5). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.343240 ms (missed cycles : 5).[0m ×2 + 20.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.600ms + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.501ms + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694247 ms (missed cycles : 3). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694247 ms (missed cycles : 3).[0m ×2 + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.789ms + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688696 ms (missed cycles : 2). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688696 ms (missed cycles : 2).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.351ms + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.957ms + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694155 ms (missed cycles : 4). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694155 ms (missed cycles : 4).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.335ms + 24.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668117 ms (missed cycles : 2). + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668117 ms (missed cycles : 2).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.074ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.697ms + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064941 ms (missed cycles : 2). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064941 ms (missed cycles : 2).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.072ms + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069514 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069514 ms (missed cycles : 2).[0m ×2 + 27.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.838ms + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.696ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010828 ms (missed cycles : 3). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010828 ms (missed cycles : 3).[0m ×2 + 28.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571512 ms (missed cycles : 3). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571512 ms (missed cycles : 3).[0m ×2 + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.911ms + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.974ms + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140391 ms (missed cycles : 3). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140391 ms (missed cycles : 3).[0m ×2 + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.210ms + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940923 ms (missed cycles : 2). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940923 ms (missed cycles : 2).[0m ×2 + 31.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.707ms + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.297ms + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3).[0m ×2 + 32.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.825ms + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2).[0m ×2 + 33.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3).[0m ×2 + 34.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.095ms + 34.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793636330.42382741 seconds ×3 + 34.72sINFOstate_estimatorReceived a set_pose request (stamp: 1793636330442692893, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.82sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 34.82sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 34.92sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.92sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 35.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.624ms + 35.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4).[0m ×2 + 35.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793636331.03163385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.68sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3).[0m ×2 + 36.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 36.85sINFOamclInitializing particles from estimated pose and covariance + 36.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 36.85sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 37.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.753ms + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3).[0m ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.4s	74 warnings · 259 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763291 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763291 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693444 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693444 ms (missed cycles : 3).[0m ×2 + 1.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.759ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.945544 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.945544 ms (missed cycles : 5).[0m ×2 + 2.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793636534.01465154 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.26sINFOstate_estimatorReceived a set_pose request (stamp: 1793636534030986702, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.27sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.62) is out of map bounds (-3.90, 2.75) to (1.08, 7.73). The costmap cannot raytrace for it. + 2.27sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.58) is out of map bounds (-3.90, 2.75) to (1.08, 7.73). The costmap cannot raytrace for it. + 2.37sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-3.90, 2.75) to (1.08, 7.73). The costmap cannot raytrace for it. + 2.37sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-3.90, 2.75) to (1.08, 7.73). The costmap cannot raytrace for it. + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.787ms + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.77sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.77sINFOobjective_server_nodecaller: ×6 + 2.77sINFOobjective_server_nodetype: 0 ×6 + 2.77sINFOobjective_server_nodename: "" ×6 + 2.77sINFOobjective_server_nodeinstance_id: "" ×6 + 2.77sINFOobjective_server_node ×6 + 2.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793636534.62505937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962751 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962751 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780799 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780799 ms (missed cycles : 4).[0m ×2 + 4.39sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.39sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.40sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.40sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549507, y=-0.0166277, yaw=-0.0172606 + 4.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.645ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944986 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944986 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334056 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334056 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463626 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463626 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125733 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125733 ms (missed cycles : 3).[0m ×2 + 9.29sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 9.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 9.47sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259591 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259591 ms (missed cycles : 2).[0m ×2 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 9.66sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 10.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.06sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 10.45sINFOobjective_server_nodeFound path in 33 iterations (0.0328835 s). ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599752 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599752 ms (missed cycles : 3).[0m ×2 + 10.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135711 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135711 ms (missed cycles : 3).[0m ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.79sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 12.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789545 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789545 ms (missed cycles : 2).[0m ×2 + 12.66sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.451ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890750 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890750 ms (missed cycles : 3).[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442528 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442528 ms (missed cycles : 3).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.731ms + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.871ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074320 ms (missed cycles : 4). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074320 ms (missed cycles : 4).[0m ×2 + 16.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.152ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675615 ms (missed cycles : 3). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675615 ms (missed cycles : 3).[0m ×2 + 17.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.047ms + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993637 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993637 ms (missed cycles : 2).[0m ×2 + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.130ms + 18.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793636550.44353080 seconds ×3 + 18.71sINFOstate_estimatorReceived a set_pose request (stamp: 1793636550465739642, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849717 ms (missed cycles : 2). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849717 ms (missed cycles : 2).[0m ×2 + 19.12sINFOamclParticle filter update iteration stats: 1861 particles 811 points - 6.312ms + 19.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.21sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793636551.08030653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.30sINFOmove_groupClearing octomap...[0m ×2 + 19.30sINFOmove_groupOctomap cleared.[0m ×2 + 19.33sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.33sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107609 ms (missed cycles : 5). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107609 ms (missed cycles : 5).[0m ×2 + 20.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793636552.10053444 seconds ×3 + 20.83sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 20.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 20.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 20.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.86sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793636552.69104409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.302ms + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636813 ms (missed cycles : 3). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636813 ms (missed cycles : 3).[0m ×2 + 21.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793636553.71119165 seconds ×3 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904280 ms (missed cycles : 3). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904280 ms (missed cycles : 3).[0m ×2 + 22.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	118 errors · 30 warnings · 581 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993637 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993637 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.130ms + 0.57sINFOjoint_trajectory_controllerGoal reached, success! + 0.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.60sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793636550.44353080 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.65sINFOstate_estimatorReceived a set_pose request (stamp: 1793636550465739642, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849717 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849717 ms (missed cycles : 2).[0m ×2 + 1.06sINFOamclParticle filter update iteration stats: 1861 particles 811 points - 6.312ms + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.15sINFOobjective_server_nodecaller: ×4 + 1.15sINFOobjective_server_nodetype: 0 ×4 + 1.15sINFOobjective_server_nodename: "" ×4 + 1.15sINFOobjective_server_nodeinstance_id: "" ×4 + 1.15sINFOobjective_server_node ×4 + 1.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793636551.08030653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.24sINFOmove_groupClearing octomap...[0m ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×2 + 1.27sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.27sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107609 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107609 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793636552.10053444 seconds ×3 + 2.77sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.77sINFOamclInitializing particles from estimated pose and covariance + 2.78sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.78sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 2.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793636552.69104409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.302ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636813 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636813 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793636553.71119165 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904280 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904280 ms (missed cycles : 3).[0m ×2 + 4.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667074 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667074 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240085 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240085 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471227 ms (missed cycles : 4). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471227 ms (missed cycles : 4).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726179 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726179 ms (missed cycles : 4).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351884 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351884 ms (missed cycles : 3).[0m ×2 + 9.82sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.83sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 9.84sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.84sERRORweb_video_auth_proxy-41process has died [pid 8212, 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 + 9.84sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 9.85sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORweb_bridge_auth_proxy-40process has died [pid 8211, 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 + 9.85sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.85sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 9.90sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 9.91sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 9.92sINFOvideo_server-39process has finished cleanly [pid 8210] ×2 + 9.92sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 9.93sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 9.93sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 9.94sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 9.95sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 9.96sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 9.97sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.99sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.00sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.02sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.03sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.05sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.06sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.08sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.08sINFOcontroller_managerShutdown request received.... + 10.08sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.08sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.08sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.08sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.09sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.09sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.09sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.09sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.09sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.09sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.09sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.09sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.09sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.09sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.09sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.09sINFOcontroller_managerShutting down the controller manager. + 10.09sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.11sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.12sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.13sERRORmove_group-25process has died [pid 8189, 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_2v8vqgja --params-file /tmp/launch_params_epxpsd3b --params-file /tmp/launch_params_dyl9bsu_ --params-file /tmp/launch_params_82_56rg4 --params-file /tmp/launch_params_k52whg7n --params-file /tmp/launch_params_455jie9h']. ×2 + 10.14sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.15sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.16sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.17sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.18sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.19sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.20sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.21sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.21sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.21sINFOmap_serverDeactivating + 10.21sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.22sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.22sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.22sINFOcontroller_serverDeactivating + 10.22sINFOlocal_costmap.local_costmapDeactivating + 10.22sINFOvideo_server2026/11/02 16:22:39 INF shutting down gracefully ×2 + 10.22sINFOvideo_server2026/11/02 16:22:39 INF [WebRTC] closing ×2 + 10.22sINFOvideo_server2026/11/02 16:22:39 INF [RTSP] closing ×2 + 10.22sINFOvideo_server2026/11/02 16:22:39 INF waiting for running hooks ×2 + 10.22sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOmap_serverCleaning up + 10.22sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.22sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.22sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.22sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.22sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.22sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.23sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.23sERRORmove_groupStack trace (most recent call last) in thread 8858: ×2 + 10.23sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.23sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2b4319cc3, in __clone ×2 + 10.23sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2b428cb83, in ×2 + 10.23sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc2b451ddb3, in ×2 + 10.23sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fc2b4c87e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.23sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2b48b1620, in rclcpp::Rate::sleep() ×2 + 10.23sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2b47f3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.23sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2b47b5087, in ×2 + 10.23sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc2b44ec390, in __cxa_throw ×2 + 10.23sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc2b44d6a54, in std::terminate() ×2 + 10.23sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc2b44ec0d9, in ×2 + 10.23sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc2b44d6ff4, in ×2 + 10.23sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2b42188fe, in abort ×2 + 10.23sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2b423527d, in raise ×2 + 10.23sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc2b428ec0c, in pthread_kill ×2 + 10.23sERRORmove_groupAborted (Signal sent by tkill() 8189 0) ×2 + 10.23sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.23sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.23sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.23sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.23sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.23sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.23sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.23sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.23sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.23sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.23sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sERRORamclThe bond connection to the lifecycle manager has been broken + 10.30sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.30sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.30sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.31sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.32sINFOcontroller_serverCleaning up + 10.32sINFOlocal_costmap.local_costmapCleaning up + 10.36sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.36sINFOsmoother_serverDeactivating + 10.36sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.37sINFOsmoother_serverCleaning up + 10.39sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.39sINFOplanner_serverDeactivating + 10.39sINFOglobal_costmap.global_costmapDeactivating + 10.40sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.40sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.40sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.40sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.40sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.40sINFOvelocity_smootherDeactivating + 10.40sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.51sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.51sINFOwaypoint_followerDeactivating + 10.51sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.62sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.62sINFObt_navigatorDeactivating + 10.62sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.74sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.74sINFObehavior_serverDeactivating + 10.74sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.85sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.85sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.85sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.85sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.85sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.85sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.85sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.86sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.86sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.86sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.86sINFOvelocity_smootherCleaning up + 10.86sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.86sINFOwaypoint_followerCleaning up + 10.89sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.89sINFObt_navigatorCleaning up + 10.93sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.93sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.94sINFOplanner_serverCleaning up + 10.95sINFOglobal_costmap.global_costmapCleaning up + 10.96sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 10.96sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 10.96sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOjoint_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 + 10.96sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.96sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.96sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.96sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.96sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.96sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 10.96sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 10.96sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 10.96sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 10.96sINFOjoint_state_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 10.97sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8209] ×2 + 10.97sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 10.97sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.97sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.97sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 10.97sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 10.97sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 10.97sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.97sINFOtf_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 + 10.97sINFOtf_visualization_relayrclpy.spin(node) ×2 + 10.97sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.97sINFOtf_visualization_relayexecutor.spin_once() ×2 + 10.97sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.97sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 10.97sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.97sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.97sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.97sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.97sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 10.97sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 10.97sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.97sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 10.97sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.01sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.01sINFObehavior_serverCleaning up + 11.01sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.01sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.01sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.01sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.04sERRORjoint_state_visualization_relay-37process has died [pid 8208, 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_bhggcxi3']. ×2 + 11.04sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.05sERRORtf_visualization_relay-36process has died [pid 8207, 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_o3o8yj2d']. ×2 + 11.05sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.07sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8200] ×2 + 11.08sINFObt_navigatorCompleted Cleaning up + 11.08sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.10sINFOui_teleop_bridge-34process has finished cleanly [pid 8205] ×2 + 11.10sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8199] ×2 + 11.11sINFOexecute_objective_bridge-33process has finished cleanly [pid 8204] ×2 + 11.13sINFOparameter_manager_node-26process has finished cleanly [pid 8190] ×2 + 11.13sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.13sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.13sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.13sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.13sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.17sINFOrelay-11process has finished cleanly [pid 8138] ×2 + 11.17sINFOcomponent_container_mt-32process has finished cleanly [pid 8203] ×2 + 11.17sINFOwaypoint_manager_node-27process has finished cleanly [pid 8191] ×2 + 11.18sINFOrelay-10process has finished cleanly [pid 8137] ×2 + 11.19sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8033] ×2 + 11.19sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8139] ×2 + 11.20sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8032] ×2 + 11.21sINFOstatic_transform_publisher-7process has finished cleanly [pid 8031] ×2 + 11.21sINFOobjective_server_node[2026-11-02 16:22:41.060] [moveit_pro_license] [critical] ×2 + 11.21sINFOobjective_server_node************************************************* ×4 + 11.21sINFOobjective_server_node* MoveIt Pro License ×2 + 11.21sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.22sINFOstatic_transform_publisher-6process has finished cleanly [pid 8030] ×2 + 11.22sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.22sINFOlidar_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 + 11.23sINFOlidar_flattener.pymain() ×2 + 11.23sINFOlidar_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 + 11.23sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.23sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.23sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.23sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.23sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.23sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.23sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.23sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.23sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.23sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.23sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.23sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.23sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.23sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.24sINFOstatic_transform_publisher-3process has finished cleanly [pid 8027] ×2 + 11.28sERRORlidar_flattener.py-5process has died [pid 8029, 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_ha82c7r3']. ×2 + 11.40sERRORcomponent_container_isolated-1process has died [pid 8025, 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_ms4hilrm --params-file /tmp/launch_params_912d1j7c -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.43sINFOobjective_server_node_main-30process has finished cleanly [pid 8201] ×2 + 11.43sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 11.54sERRORcomponent_container_isolated-2process has died [pid 8026, 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_ms4hilrm --params-file /tmp/launch_params_macec_0i -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.20sINFOcomponent_container_mt-31process has finished cleanly [pid 8202] ×2 + 12.23sINFOodom_world_drift-4process has finished cleanly [pid 8028] ×2 + 12.82sINFOros2_control_node-13process has finished cleanly [pid 8140] ×2 + 12.84sINFOweb_bridge-35process has finished cleanly [pid 8206] ×2 + 12.84sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 71 warnings · 170 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.123ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994447 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994447 ms (missed cycles : 2).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.083ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987813 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987813 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224945 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224945 ms (missed cycles : 4).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.487ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793636385.85198545 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1793636385869265463, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 11.06) is out of map bounds (-3.40, 1.65) to (1.58, 6.63). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.66) is out of map bounds (-3.40, 1.65) to (1.58, 6.63). The costmap cannot raytrace for it. + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 11.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.19sINFOamclParticle filter update iteration stats: 3700 particles 811 points - 7.815ms + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-1.34, 8.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.11, 8.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087769 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087769 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793636386.46888947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 33.042ms + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.55sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568595, y=-0.0171809, yaw=-0.0184013 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (5.24e-07 s). ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.004ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761757 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761757 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713817 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713817 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434923 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434923 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478563 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478563 ms (missed cycles : 4).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426595 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426595 ms (missed cycles : 3).[0m ×2 + 9.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990533 ms (missed cycles : 5). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990533 ms (missed cycles : 5).[0m ×2 + 9.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.994ms + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.864ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042238 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042238 ms (missed cycles : 3).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.194ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812482 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812482 ms (missed cycles : 3).[0m ×2 + 11.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.727ms + 12.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.184ms + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960184 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960184 ms (missed cycles : 3).[0m ×2 + 13.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.437ms + 13.57sINFOobjective_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 + 13.58sINFOjoint_trajectory_controllerGot request to cancel goal + 13.58sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.58sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.58sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.58sERRORobjective_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: 1793636396.58187675 seconds ×3 + 13.61sINFOstate_estimatorReceived a set_pose request (stamp: 1793636396604601740, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.417ms + 13.75sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.75sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989026 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989026 ms (missed cycles : 3).[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.783ms + 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 + 14.18sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793636397.18659687 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916944 ms (missed cycles : 3). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916944 ms (missed cycles : 3).[0m ×2 + 15.82sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567327, y=-0.0171841, yaw=-0.0184047 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545638 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545638 ms (missed cycles : 3).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.369ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522760 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522760 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	50 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793636291.37393951 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793636291399458107, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.64) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.898ms + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793636291.98034549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549346, y=-0.016618, yaw=-0.0172395 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838041 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838041 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586770 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586770 ms (missed cycles : 3).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853527 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853527 ms (missed cycles : 3).[0m ×2 + 9.44sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793636297.81060982 seconds ×3 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177946 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177946 ms (missed cycles : 2).[0m ×2 + 10.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.03sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793636299.40362167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.44sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772646 ms (missed cycles : 4). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772646 ms (missed cycles : 4).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833519 ms (missed cycles : 3). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833519 ms (missed cycles : 3).[0m ×2 + 13.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897977 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897977 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	47 warnings · 148 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.646ms + 0.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.896ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289953 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289953 ms (missed cycles : 3).[0m ×2 + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.846ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640437 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640437 ms (missed cycles : 4).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739900 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739900 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.69sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.73sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793636470.00683188 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1793636470022844094, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.35) is out of map bounds (-4.05, 5.00) to (0.93, 9.98). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.24, 13.99) is out of map bounds (-4.05, 5.00) to (0.93, 9.98). The costmap cannot raytrace for it. + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.38) is out of map bounds (-4.05, 5.00) to (0.93, 9.98). The costmap cannot raytrace for it. + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.02) is out of map bounds (-4.05, 5.00) to (0.93, 9.98). The costmap cannot raytrace for it. + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.163ms + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793636470.59676909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 33.658ms + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.47sINFOamclInitializing 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=-0.0568436, y=-0.017181, yaw=-0.0184006 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777097 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777097 ms (missed cycles : 3).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.163ms + 3.83sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.83sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900570 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900570 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136054 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136054 ms (missed cycles : 3).[0m ×2 + 5.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 9.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 9.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.79sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.84sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.24sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 12.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	42 warnings · 166 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166818 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166818 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967541 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967541 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000265 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000265 ms (missed cycles : 5).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793636227.78615975 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOstate_estimatorReceived a set_pose request (stamp: 1793636227804315638, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759363 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759363 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793636228.37306285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNobjective_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 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 3.58sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.58sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.59sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.59sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.729ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179092 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179092 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.1593e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342195 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342195 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.540ms + 6.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.135ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.678ms + 6.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.165ms + 7.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.967ms + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881647 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881647 ms (missed cycles : 3).[0m ×2 + 7.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.842ms + 7.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.640ms + 8.01sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.175ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288742 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288742 ms (missed cycles : 3).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.101ms + 8.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.116ms + 9.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793636233.97327781 seconds ×3 + 9.16sINFOstate_estimatorReceived a set_pose request (stamp: 1793636233990867790, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220872 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220872 ms (missed cycles : 2).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.046ms + 9.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.68sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793636234.56872559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.14sINFOobjective_server_nodeFound path in 0 iterations (5.32e-07 s). ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137041 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137041 ms (missed cycles : 3).[0m ×2 + 11.26sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 11.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.965ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835294 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835294 ms (missed cycles : 2).[0m ×2 + 12.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272201 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272201 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.7s	24 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.871ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074320 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074320 ms (missed cycles : 4).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.152ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675615 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675615 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.047ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993637 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993637 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.130ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793636550.44353080 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_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 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1793636550465739642, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849717 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849717 ms (missed cycles : 2).[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 1861 particles 811 points - 6.312ms + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793636551.08030653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107609 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107609 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793636552.10053444 seconds ×3 + 5.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.07sINFOamclInitializing particles from estimated pose and covariance + 5.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.07sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793636552.69104409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.302ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636813 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636813 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793636553.71119165 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904280 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904280 ms (missed cycles : 3).[0m ×2 + 6.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667074 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667074 ms (missed cycles : 4).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.8s	6 errors · 21 warnings · 708 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.62sINFOobjective_server_nodeobjective_name: "" ×8 + 0.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.62sINFOobjective_server_node ×50 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.62sINFOobjective_server_node</Control> ×16 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 0.75sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.35sINFOmove_groupClearing octomap...[0m ×4 + 2.35sINFOmove_groupOctomap cleared.[0m ×4 + 2.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 7.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	Close Gripper	close_gripper.xml	0.7s	6 errors · 21 warnings · 817 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 0.17sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.17sINFOobjective_server_nodeobjective_name: "" ×12 + 0.17sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.17sINFOobjective_server_node ×68 + 0.17sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.17sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.17sINFOobjective_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 + 0.17sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.17sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.17sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.17sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.17sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.17sINFOobjective_server_node</Control> ×24 + 0.17sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.17sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.17sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.17sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.17sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.17sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.17sINFOobjective_server_nodecaller: ×26 + 0.17sINFOobjective_server_nodetype: 0 ×26 + 0.17sINFOobjective_server_nodename: "" ×26 + 0.17sINFOobjective_server_nodeinstance_id: "" ×26 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636177.96511054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.06533599 seconds ×3 + 0.38sINFOobjective_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=\"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 + 0.38sINFOobjective_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 + 0.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.49sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.52sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_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=\"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: "" + 1.05sINFOobjective_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 + 1.09sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 1.17sINFOobjective_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 + 1.23sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.86sINFOobjective_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 + 1.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 2.11sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.77sINFOmove_groupClearing octomap...[0m ×4 + 2.77sINFOmove_groupOctomap cleared.[0m ×4 + 2.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 5.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_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 + 6.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 6.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	27 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.297ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.825ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.095ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793636330.42382741 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_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: 1793636330442692893, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.624ms + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793636331.03163385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3).[0m ×2 + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.81sINFOamclInitializing particles from estimated pose and covariance + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.753ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2).[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 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_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 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.95sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 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 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970331 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970331 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166818 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166818 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967541 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967541 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000265 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000265 ms (missed cycles : 5).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793636227.78615975 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOstate_estimatorReceived a set_pose request (stamp: 1793636227804315638, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759363 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759363 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793636228.37306285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNobjective_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 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 3.58sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.58sINFOamclInitializing particles from estimated pose and covariance + 3.59sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.59sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.729ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179092 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179092 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.1593e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal + 4.78sINFOjoint_trajectory_controllerAccepted new action goal + 4.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342195 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342195 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.540ms + 6.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.135ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.678ms
− 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 6.166818 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166818 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967541 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967541 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000265 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000265 ms (missed cycles : 5).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793636227.78615975 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOstate_estimatorReceived a set_pose request (stamp: 1793636227804315638, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759363 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759363 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793636228.37306285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNobjective_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 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.811ms + 3.58sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.58sINFOamclInitializing particles from estimated pose and covariance + 3.59sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.59sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.729ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179092 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179092 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.1593e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal + 4.78sINFOjoint_trajectory_controllerAccepted new action goal + 4.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342195 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342195 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.540ms + 6.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.135ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.678ms
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 88 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.135ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850549 ms (missed cycles : 2).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.678ms + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.165ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.967ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881647 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881647 ms (missed cycles : 3).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.842ms + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.640ms + 1.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.175ms + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288742 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288742 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.101ms + 2.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.116ms + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793636233.97327781 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_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 + 2.90sINFOstate_estimatorReceived a set_pose request (stamp: 1793636233990867790, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sINFOcontroller_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 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220872 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220872 ms (missed cycles : 2).[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 1608 particles 811 points - 6.046ms + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793636234.56872559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (5.32e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137041 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137041 ms (missed cycles : 3).[0m ×2 + 5.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.00sINFOamclInitializing 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=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 5.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.965ms + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835294 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835294 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272201 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272201 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793636291.37393951 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793636291399458107, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.64) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.898ms + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793636291.98034549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal + 4.38sINFOjoint_trajectory_controllerAccepted new action goal + 4.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549346, y=-0.016618, yaw=-0.0172395 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793636291.37393951 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793636291399458107, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.64) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.898ms + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793636291.98034549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal + 4.38sINFOjoint_trajectory_controllerAccepted new action goal + 4.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549346, y=-0.016618, yaw=-0.0172395 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793636291.37393951 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793636291399458107, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.64) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.898ms + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793636291.98034549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal + 4.38sINFOjoint_trajectory_controllerAccepted new action goal + 4.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549346, y=-0.016618, yaw=-0.0172395 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793636291.37393951 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793636291399458107, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.64) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.898ms + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793636291.98034549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal + 4.38sINFOjoint_trajectory_controllerAccepted new action goal + 4.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549346, y=-0.016618, yaw=-0.0172395 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793636291.37393951 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793636291399458107, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.64) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.898ms + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793636291.98034549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal + 4.38sINFOjoint_trajectory_controllerAccepted new action goal + 4.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549346, y=-0.016618, yaw=-0.0172395 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793636291.37393951 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793636291399458107, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.64) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.898ms + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793636291.98034549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal + 4.38sINFOjoint_trajectory_controllerAccepted new action goal + 4.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549346, y=-0.016618, yaw=-0.0172395 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	29 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375336 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982602 ms (missed cycles : 2).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.478ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978030 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793636291.37393951 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793636291399458107, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.64) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.45, 4.95) to (0.53, 9.93). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365412 ms (missed cycles : 5).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.898ms + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793636291.98034549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708107 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal + 4.38sINFOjoint_trajectory_controllerAccepted new action goal + 4.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 5.17sINFOamclInitializing particles from estimated pose and covariance + 5.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 5.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549346, y=-0.016618, yaw=-0.0172395 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265068 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.112ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649952 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	27 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.297ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.825ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.095ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793636330.42382741 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_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: 1793636330442692893, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.624ms + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793636331.03163385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3).[0m ×2 + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.81sINFOamclInitializing particles from estimated pose and covariance + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.753ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	27 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.297ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.825ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.095ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793636330.42382741 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_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: 1793636330442692893, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.624ms + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793636331.03163385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3).[0m ×2 + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.81sINFOamclInitializing particles from estimated pose and covariance + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.753ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	27 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.297ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041006 ms (missed cycles : 3).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.825ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180553 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385474 ms (missed cycles : 3).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.095ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793636330.42382741 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_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: 1793636330442692893, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.78sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.15, 5.80) to (-0.17, 10.78). The costmap cannot raytrace for it. + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.624ms + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723373 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793636331.03163385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604472 ms (missed cycles : 3).[0m ×2 + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.81sINFOamclInitializing particles from estimated pose and covariance + 4.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.753ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708440 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828351 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	6 errors · 18 warnings · 587 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 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: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 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 + 0.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.69sINFOobjective_server_node</Control> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 0.94sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_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: 1793636180.52028346 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: 1793636180.54043651 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 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 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: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 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 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861236 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065264 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264983 ms (missed cycles : 2).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793636476.51694894 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906318 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793636477.11444545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811324 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925318 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272766 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.871ms + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074320 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074320 ms (missed cycles : 4).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.152ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675615 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675615 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.047ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993637 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993637 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.130ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793636550.44353080 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_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 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1793636550465739642, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849717 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849717 ms (missed cycles : 2).[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 1861 particles 811 points - 6.312ms + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793636551.08030653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107609 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107609 ms (missed cycles : 5).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793636552.10053444 seconds ×3 + 5.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.07sINFOamclInitializing particles from estimated pose and covariance + 5.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.07sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793636552.69104409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.302ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636813 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636813 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793636553.71119165 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904280 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904280 ms (missed cycles : 3).[0m ×2 + 6.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[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	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[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: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 0.14sINFOobjective_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: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.14sINFOobjective_server_nodeobjective_name: "" ×2 + 0.14sINFOobjective_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 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.14sINFOobjective_server_nodecaller: ×16 + 0.14sINFOobjective_server_nodetype: 0 ×16 + 0.14sINFOobjective_server_nodename: "" ×16 + 0.14sINFOobjective_server_nodeinstance_id: "" ×16 + 0.14sINFOobjective_server_node ×16 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_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 + 0.31sINFOcontroller_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 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 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: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.87sINFOmove_groupClearing octomap...[0m ×4 + 0.87sINFOmove_groupOctomap cleared.[0m ×4 + 0.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 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 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 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: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 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: 1793636184.01213217 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 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[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: 1793636178.92084956 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: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 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 + 0.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.69sINFOobjective_server_node</Control> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 0.94sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 1.56sINFOobjective_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: 1793636180.52028346 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: 1793636180.54043651 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 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 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: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 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 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.15sINFOjoint_trajectory_controllerReceived new action goal + 7.16sINFOjoint_trajectory_controllerAccepted new action goal + 7.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 805 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×22 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.55sINFOobjective_server_nodeobjective_name: "" ×12 + 0.55sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.55sINFOobjective_server_node ×66 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.55sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.55sINFOobjective_server_node</Control> ×24 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.55sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.55sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.55sINFOobjective_server_nodecaller: ×24 + 0.55sINFOobjective_server_nodetype: 0 ×24 + 0.55sINFOobjective_server_nodename: "" ×24 + 0.55sINFOobjective_server_nodeinstance_id: "" ×24 + 0.59sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636177.96511054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.06533599 seconds ×3 + 0.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.75sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.80sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.42sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.46sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 1.54sINFOobjective_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 + 1.61sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 2.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.23sINFOobjective_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 + 2.27sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 2.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.15sINFOmove_groupClearing octomap...[0m ×4 + 3.15sINFOmove_groupOctomap cleared.[0m ×4 + 3.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.51sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 5.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 6.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sINFOobjective_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 + 6.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2
− skipped	—	addtovector.xml	0.0s	6 errors · 18 warnings · 716 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235118 ms (missed cycles : 4).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.55sINFOobjective_server_nodeobjective_name: "" ×12 + 0.55sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.55sINFOobjective_server_node ×64 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.55sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.55sINFOobjective_server_node</Control> ×24 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.55sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.55sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.55sINFOobjective_server_nodecaller: ×22 + 0.55sINFOobjective_server_nodetype: 0 ×22 + 0.55sINFOobjective_server_nodename: "" ×22 + 0.55sINFOobjective_server_nodeinstance_id: "" ×22 + 0.59sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636177.96511054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.06533599 seconds ×3 + 0.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.75sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.80sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.42sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.46sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 1.54sINFOobjective_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 + 1.61sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 2.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.23sINFOobjective_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 + 2.27sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 2.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.51sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 5.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 5.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 18 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.62sINFOobjective_server_nodeobjective_name: "" ×8 + 0.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.62sINFOobjective_server_node ×50 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.62sINFOobjective_server_node</Control> ×16 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 0.75sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.35sINFOmove_groupClearing octomap...[0m ×4 + 2.35sINFOmove_groupOctomap cleared.[0m ×4 + 2.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 18 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.62sINFOobjective_server_nodeobjective_name: "" ×8 + 0.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.62sINFOobjective_server_node ×50 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.62sINFOobjective_server_node</Control> ×16 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 0.75sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.35sINFOmove_groupClearing octomap...[0m ×4 + 2.35sINFOmove_groupOctomap cleared.[0m ×4 + 2.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 18 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.17201328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636178.24218225 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015762 ms (missed cycles : 4).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.62sINFOobjective_server_nodeobjective_name: "" ×8 + 0.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.62sINFOobjective_server_node ×50 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.62sINFOobjective_server_node</Control> ×16 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.84066820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636178.92084956 seconds ×3 + 0.75sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636178.98559284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.05576611 seconds ×3 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.35sINFOmove_groupClearing octomap...[0m ×4 + 2.35sINFOmove_groupOctomap cleared.[0m ×4 + 2.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.92sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_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 + 5.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	3 errors · 21 warnings · 453 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.65021777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793636179.77039504 seconds ×3 + 0.14sINFOobjective_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: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.14sINFOobjective_server_nodeobjective_name: "" ×2 + 0.14sINFOobjective_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 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.14sINFOobjective_server_nodecaller: ×16 + 0.14sINFOobjective_server_nodetype: 0 ×16 + 0.14sINFOobjective_server_nodename: "" ×16 + 0.14sINFOobjective_server_nodeinstance_id: "" ×16 + 0.14sINFOobjective_server_node ×16 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793636179.85638285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793636179.92655039 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_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 + 0.31sINFOcontroller_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 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330264 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: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.87sINFOmove_groupClearing octomap...[0m ×4 + 0.87sINFOmove_groupOctomap cleared.[0m ×4 + 0.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 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 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 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: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 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: 1793636184.01213217 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 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2

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

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970331 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970331 ms (missed cycles : 2).[0m ×2

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793636180.52028346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793636180.54043651 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793636181.13400674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793636181.19416571 seconds ×3 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483065 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793636181.88905334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793636181.94920802 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239783 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793636182.65079999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793636182.67095661 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793636183.24776077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245942 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793636183.39843011 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793636184.01213217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_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 + 3.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793636184.08229828 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609068 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793636184.66868520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757608 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191467 ms (missed cycles : 3).[0m ×2