MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

17.5s

Avg test time

100%

Objective pass rate

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5 pass

✓ passed	—	test_base_link_has_single_tf_parent	31.4s	6 errors · 342 warnings · 1798 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/2026-11-05-17-24-09-388430-727a71bb394f-8005 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.29sINFOstatic_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' + 4.29sINFOstatic_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' + 4.30sINFOstatic_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' + 4.30sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.37sINFOmap_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. + 4.37sINFOmap_serverCreating + 4.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.38sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.39sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.44sINFOcontroller_serverCreating controller server + 4.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.45sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.46sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.46sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.46sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.47sINFOlocal_costmap.local_costmapCreating Costmap + 4.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.49sINFOlifecycle_manager_localizationCreating + 4.50sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.52sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.52sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.52sINFOmap_serverConfiguring + 4.53sINFOsmoother_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. + 4.56sINFOros2_control_node-13process started with pid [8170] ×2 + 4.56sINFOmove_group-25process started with pid [8231] ×2 + 4.56sINFOparameter_manager_node-26process started with pid [8232] ×2 + 4.56sINFOwaypoint_manager_node-27process started with pid [8233] ×2 + 4.56sINFOmove_joint_resampler_node-28process started with pid [8234] ×2 + 4.56sINFOmove_end_effector_resampler_node-29process started with pid [8235] ×2 + 4.56sINFOobjective_server_node_main-30process started with pid [8236] ×2 + 4.56sINFOcomponent_container_mt-31process started with pid [8237] ×2 + 4.56sINFOcomponent_container_mt-32process started with pid [8239] ×2 + 4.57sINFOsmoother_serverCreating smoother server + 4.58sINFOexecute_objective_bridge-33process started with pid [8240] ×2 + 4.58sINFOui_teleop_bridge-34process started with pid [8242] ×2 + 4.58sINFOweb_bridge-35process started with pid [8246] ×2 + 4.58sINFOtf_visualization_relay-36process started with pid [8247] ×2 + 4.58sINFOjoint_state_visualization_relay-37process started with pid [8248] ×2 + 4.58sINFOtf2_web_republisher_node-38process started with pid [8249] ×2 + 4.58sINFOvideo_server-39process started with pid [8253] ×2 + 4.58sINFOweb_bridge_auth_proxy-40process started with pid [8254] ×2 + 4.58sINFOweb_video_auth_proxy-41process started with pid [8255] ×2 + 4.58sINFOcomponent_container_isolated-1process started with pid [8055] ×2 + 4.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.58sINFOcomponent_container_isolated-2process started with pid [8056] ×2 + 4.58sINFOstatic_transform_publisher-3process started with pid [8057] ×2 + 4.58sINFOodom_world_drift-4process started with pid [8058] ×2 + 4.58sINFOlidar_flattener.py-5process started with pid [8059] ×2 + 4.58sINFOstatic_transform_publisher-6process started with pid [8060] ×2 + 4.58sINFOstatic_transform_publisher-7process started with pid [8061] ×2 + 4.58sINFOscan_to_scan_filter_chain-8process started with pid [8062] ×2 + 4.59sINFOscan_to_scan_filter_chain-9process started with pid [8063] ×2 + 4.59sINFOrelay-10process started with pid [8167] ×2 + 4.59sINFOrelay-11process started with pid [8168] ×2 + 4.59sINFOfixed_lag_smoother_node-12process started with pid [8169] ×2 + 4.59sINFOros2-14process started with pid [8171] ×2 + 4.59sINFOros2-15process started with pid [8172] ×2 + 4.59sINFOros2-16process started with pid [8173] ×2 + 4.59sINFOros2-17process started with pid [8174] ×2 + 4.59sINFOros2-18process started with pid [8175] ×2 + 4.59sINFOros2-19process started with pid [8177] ×2 + 4.59sINFOros2-20process started with pid [8179] ×2 + 4.59sINFOros2-21process started with pid [8182] ×2 + 4.59sINFOros2-22process started with pid [8183] ×2 + 4.59sINFOros2-23process started with pid [8184] ×2 + 4.59sINFOros2-24process started with pid [8195] ×2 + 4.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.61sINFOstate_estimatorReceived a set_pose request (stamp: 1793899455740234854, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.63sINFOplanner_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. + 4.65sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.65sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.65sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.65sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.65sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.66sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.66sINFOamclConfiguring + 4.67sINFOplanner_serverCreating + 4.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.67sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.67sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.67sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.67sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.67sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.67sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.67sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.67sINFOmap_serverActivating + 4.67sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.68sINFOcontroller_managerupdate rate is 600 Hz + 4.68sINFOcontroller_managerOverruns handling is : enabled + 4.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.68sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.68sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.68sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.68sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.68sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.68sWARNcontroller_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. + 4.69sWARNros2_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 + 4.72sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.72sINFOglobal_costmap.global_costmapCreating Costmap + 4.73sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.73sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.73sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.75sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.75sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.79sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.79sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.79sINFOamclActivating + 4.79sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.79sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.80sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.82sINFOamclSubscribed to map_topic: /map + 4.82sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.83sINFOamclCreated reinitialize_global_localization service + 4.83sINFOamclCreated request_nomotion_update service + 4.83sINFOamclA new map was received + 4.83sINFOamclInitializing particle filter instance + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.86sINFOrobot_state_publisherRobot initialized + 4.86sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.86sINFOcontroller_managerReceived robot description from topic. + 4.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.86sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.86sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.91sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266689 ms (missed cycles : 3). + 4.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.91sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.91sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266689 ms (missed cycles : 3).[0m ×2 + 4.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.94sINFObt_navigatorCreating + 4.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.03sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.03sINFOwaypoint_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. + 5.04sINFOwaypoint_followerCreating + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.08sINFOvelocity_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. + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.13sINFOlifecycle_manager_navigationCreating + 5.14sINFOvideo_server2026/11/05 17:24:16 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.15sINFOvideo_server2026/11/05 17:24:16 INF configuration loaded from /tmp/moveit-webrtc-v9nlurlj/mediamtx.yml ×2 + 5.15sINFOvideo_server2026/11/05 17:24:16 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.15sINFOvideo_server2026/11/05 17:24:16 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.16sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.20sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.20sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.21sINFOcontroller_serverConfiguring controller interface + 5.21sINFOcontroller_servergetting progress checker plugins.. + 5.21sINFOcontroller_servergetting goal checker plugins.. + 5.21sINFOcontroller_serverController frequency set to 20.0000Hz + 5.21sINFOlocal_costmap.local_costmapConfiguring + 5.22sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.22sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.23sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.23sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.24sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.24sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.24sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.29sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.29sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.30sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 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. + 5.31sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.32sWARNlaser_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. + 5.35sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.36sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.37sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.37sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.38sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.40sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.42sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.42sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.43sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.43sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.44sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.44sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.45sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.45sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.45sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.45sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.45sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.46sINFOcontroller_serverOptimizer reset ×2 + 5.48sINFOcontroller_serverController Server has FollowPath controllers available. + 5.50sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.50sINFOsmoother_serverConfiguring smoother server + 5.51sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.52sINFOweb_bridge_auth_proxy2026-11-05 17:24:16,647 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 5.52sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.53sINFOweb_bridge_auth_proxy2026-11-05 17:24:16,650 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 5.53sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.54sINFOplanner_serverConfiguring + 5.54sINFOglobal_costmap.global_costmapConfiguring + 5.55sINFOweb_video_auth_proxy2026-11-05 17:24:16,669 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 5.55sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.56sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.56sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.56sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.57sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.61sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.61sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.62sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.71sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.71sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.71sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.72sINFOplanner_serverPlanner Server has GridBased planners available. + 5.77sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.77sINFObehavior_serverConfiguring + 5.77sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.78sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.78sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.78sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.79sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.79sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.80sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.81sINFObehavior_serverConfiguring spin + 5.83sINFObehavior_serverConfiguring backup + 5.84sINFObehavior_serverConfiguring drive_on_heading + 5.85sINFObehavior_serverConfiguring assisted_teleop + 5.88sINFObehavior_serverConfiguring wait + 5.91sINFOamclParticle filter initialization completed + 5.91sINFOamclInitializing particles from estimated pose and covariance + 5.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.91sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.91sINFObt_navigatorConfiguring + 5.93sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.95sWARNbt_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 + 6.00sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.00sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.00sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.01sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.11sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.374841 seconds + 6.11sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.11sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.12sINFOmove_groupLoaded robot model in 0.374841 seconds[0m ×2 + 6.12sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.12sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.22sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201443 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201443 ms (missed cycles : 2).[0m ×2 + 6.29sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.29sINFOwaypoint_followerConfiguring + 6.31sINFOwaypoint_manager_nodeLoaded robot model in 0.503975 seconds[0m ×2 + 6.31sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.31sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.32sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.33sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.33sINFOvelocity_smootherConfiguring velocity smoother + 6.34sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.35sINFOcontroller_serverActivating + 6.35sINFOlocal_costmap.local_costmapActivating + 6.35sINFOlocal_costmap.local_costmapChecking transform + 6.35sINFOlocal_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 ×12 + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.57sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.57sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.58sWARNmove_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 + 6.58sWARNmove_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 + 6.61sINFOros2_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 + 6.61sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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. + 6.72sWARNwaypoint_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 + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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. + 6.73sWARNwaypoint_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 + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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. + 6.74sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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. + 6.75sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.45sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.45sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.45sINFOros2_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 + 7.45sWARNros2_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 + 7.45sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.45sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.45sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.45sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.45sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.45sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.45sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.45sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.45sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.45sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.45sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.45sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.45sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.45sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.45sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.45sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.45sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.45sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.45sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.45sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.45sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.46sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.46sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774768 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774768 ms (missed cycles : 2).[0m ×2 + 7.50sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.50sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.54sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.54sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.54sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.54sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.54sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 7.54sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 7.56sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.56sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.57sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.57sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.57sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.57sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.57sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.57sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.57sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.57sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.58sINFOcontroller_managerSuccessfully switched controllers! ×19 + 7.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 7.58sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.58sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.67sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.67sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.72sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 7.72sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.72sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 7.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 7.91sINFOros2-18process has finished cleanly [pid 8175] ×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' + 7.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.97sINFOforce_torque_sensor_broadcasterconfigure successful + 7.97sINFOros2_control_nodeconfigure successful[0m ×6 + 7.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.02sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.02sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.05sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.05sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.05sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.05sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.05sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.05sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.06sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.06sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.06sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.06sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.06sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.06sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.06sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.06sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.06sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.06sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.06sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.06sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.06sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.09sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.26sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.26sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.27sWARNcomponent_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 + 8.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.27sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.30sINFOstreaming_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) + 8.30sINFOcomponent_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 + 8.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.30sINFOros2-14process has finished cleanly [pid 8171] ×2 + 8.30sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 8.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 8.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.44sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.44sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.44sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.45sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.49sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.49sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841460 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841460 ms (missed cycles : 2).[0m ×2 + 8.63sINFOcomponent_container_mtLoaded robot model in 0.365047 seconds[0m ×2 + 8.63sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.63sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.88sINFOros2_control_node[2026-11-05 17:24:20.001] [info] Controller state will be published at 20 Hz. ×2 + 8.88sINFOros2_control_node[2026-11-05 17:24:20.002] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.02sWARNplanning_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. + 9.02sWARNplanning_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. + 9.02sWARNcomponent_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 + 9.02sWARNcomponent_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 + 9.02sWARNplanning_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. + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.03sWARNplanning_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. + 9.03sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.20sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.20sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.20sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.20sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 9.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 9.22sINFOros2-23process has finished cleanly [pid 8184] ×2 + 9.29sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 9.29sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 9.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 9.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 9.29sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 9.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 9.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 9.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 9.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 9.30sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 9.30sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 9.30sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 9.30sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 9.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 9.30sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 9.36sWARNros2_control_nodeCamera render tick took 0.86 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 + 9.36sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.36sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.36sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.36sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.59sINFOros2-20process has finished cleanly [pid 8179] ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110853 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110853 ms (missed cycles : 2).[0m ×2 + 9.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 9.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 9.69sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.69sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 10.04sINFOros2_control_node[2026-11-05 17:24:21.168] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.05sINFOros2_control_node[2026-11-05 17:24:21.171] [info] Controller state will be published at 10 Hz. ×2 + 10.05sINFOros2_control_node[2026-11-05 17:24:21.172] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.36sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793899459.618 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.37sINFOros2-21process has finished cleanly [pid 8182] ×2 + 10.41sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.41sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.41sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.41sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 10.41sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.41sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 10.45sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 10.45sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 10.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720517 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720517 ms (missed cycles : 2).[0m ×2 + 10.79sINFOros2_control_node[2026-11-05 17:24:21.915] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.79sINFOros2_control_node[2026-11-05 17:24:21.916] [info] Controller state will be published at 10 Hz. ×2 + 10.79sINFOros2_control_node[2026-11-05 17:24:21.917] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 11.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 11.11sINFOros2-22process has finished cleanly [pid 8183] ×2 + 11.15sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.15sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.15sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.15sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.51sINFOros2_control_node[2026-11-05 17:24:22.639] [info] Controller state will be published at 20 Hz. ×2 + 11.51sINFOros2_control_node[2026-11-05 17:24:22.640] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204961 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204961 ms (missed cycles : 2).[0m ×2 + 11.82sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.82sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.82sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.82sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.82sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 11.82sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 11.85sINFOros2-24process has finished cleanly [pid 8195] ×2 + 11.86sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.86sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.87sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.87sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.87sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.87sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.87sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.87sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 12.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 12.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 12.22sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 12.23sINFOros2-15process has finished cleanly [pid 8172] ×2 + 12.27sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 12.27sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 12.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 12.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 12.27sINFOplatform_velocity_controllerconfigure successful + 12.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 12.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 12.30sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 12.30sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 12.35sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 12.58sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.58sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.58sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.58sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 12.58sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.58sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 12.60sINFOros2-17process has finished cleanly [pid 8174] ×2 + 12.64sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.64sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.64sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.64sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.64sINFOplatform_velocity_controller_nav2configure successful + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472378 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472378 ms (missed cycles : 3).[0m ×2 + 12.96sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.96sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.96sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.96sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.96sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op + 12.96sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rmltyjcg --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_l3fm679a --params-file /tmp/launch_params_0ns1k_op [0m ×2 + 12.99sINFOros2-19process has finished cleanly [pid 8177] ×2 + 13.00sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793899462.784 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 13.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 13.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 13.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 13.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 13.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 13.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 13.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 13.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 13.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 13.23sINFOwaypoint_manager_node[2026-11-05 17:24:24.358] [moveit_pro_license] [info] ×2 + 13.23sINFOwaypoint_manager_node************************************************* ×4 + 13.23sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 13.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 13.34sINFOros2-16process has finished cleanly [pid 8173] ×2 + 13.35sINFOlocal_costmap.local_costmapstart + 13.50sWARNcontroller_serverParameter controller_server.verbose not found + 13.50sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.60sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 13.60sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 13.60sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.60sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.61sINFOsmoother_serverActivating + 13.61sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.61sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 13.66sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793899464.155 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.71sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.71sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.71sINFOplanner_serverActivating + 13.71sINFOglobal_costmap.global_costmapActivating + 13.71sINFOglobal_costmap.global_costmapChecking transform + 13.71sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 13.74sINFOamclParticle filter update iteration stats: 1566 particles 811 points - 19.432ms + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505139 ms (missed cycles : 4). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505139 ms (missed cycles : 4).[0m ×2 + 14.21sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1793899465.288979 but the earliest data is at time 1793899465.481807, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.45sINFOcomponent_container_mt[2026-11-05 17:24:25.580] [moveit_pro_license] [info] ×2 + 14.45sINFOcomponent_container_mt************************************************* ×4 + 14.45sINFOcomponent_container_mt* MoveIt Pro License ×2 + 14.45sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 14.71sINFOglobal_costmap.global_costmapstart + 14.80sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 14.81sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 14.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 14.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510608 ms (missed cycles : 4). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510608 ms (missed cycles : 4).[0m ×2 + 14.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 14.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 14.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 15.76sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.76sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.87sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.87sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.87sINFObehavior_serverActivating + 15.87sINFObehavior_serverActivating spin + 15.87sINFObehavior_serverActivating backup + 15.87sINFObehavior_serverActivating drive_on_heading + 15.87sINFObehavior_serverActivating assisted_teleop + 15.87sINFObehavior_serverActivating wait + 15.87sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717877 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717877 ms (missed cycles : 3).[0m ×2 + 15.97sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.97sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.97sINFObt_navigatorActivating + 16.03sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 16.14sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 16.14sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 16.14sINFOwaypoint_followerActivating + 16.14sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.24sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.24sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.24sINFOvelocity_smootherActivating + 16.24sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.35sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.35sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.35sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643498 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643498 ms (missed cycles : 2).[0m ×2 + 17.00sINFOmove_group[2026-11-05 17:24:28.127] [moveit_pro_license] [info] ×2 + 17.00sINFOmove_group************************************************* ×4 + 17.00sINFOmove_group* MoveIt Pro License ×2 + 17.00sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.12sINFOobjective_server_node[2026-11-05 17:24:28.243] [moveit_pro_license] [info] ×2 + 17.12sINFOobjective_server_node************************************************* ×4 + 17.12sINFOobjective_server_node* MoveIt Pro License ×2 + 17.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.21sINFOobjective_server_nodeLoaded robot model in 0.0368961 seconds[0m ×2 + 17.21sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.21sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.49sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.49sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.49sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.49sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.49sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.49sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.49sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.49sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.49sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.49sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.49sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.49sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.50sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.50sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.50sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.50sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.50sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.50sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.50sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.62sWARNobjective_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. + 17.62sWARNobjective_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. + 17.62sWARNobjective_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. + 17.62sWARNobjective_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. + 17.62sWARNobjective_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. + 17.62sWARNobjective_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. + 17.62sWARNobjective_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. + 17.62sWARNobjective_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. + 17.62sWARNobjective_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. + 17.62sWARNobjective_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. + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.62sWARNobjective_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 + 17.71sINFOobjective_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 + 17.71sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.74sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.74sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.74sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.74sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.74sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.74sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.74sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536208 ms (missed cycles : 3). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536208 ms (missed cycles : 3).[0m ×2 + 18.12sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.12sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812556 ms (missed cycles : 4). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812556 ms (missed cycles : 4).[0m ×2 + 19.38sINFOmove_groupMoveGroup debug mode is ON + 19.38sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.43sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.43sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.43sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.43sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.43sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.44sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.44sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.55sINFOmove_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 ****************************************************** + 19.55sINFOmove_group ×8 + 19.55sINFOmove_group****************************************************** ×4 + 19.55sINFOmove_group* MoveGroup using: ×2 + 19.55sINFOmove_group* - apply_planning_scene_service ×2 + 19.55sINFOmove_group* - clear_octomap_service ×2 + 19.55sINFOmove_group* - get_group_urdf ×2 + 19.55sINFOmove_group* - load_geometry_from_file ×2 + 19.55sINFOmove_group* - get_planning_scene_service ×2 + 19.55sINFOmove_group* - kinematics_service ×2 + 19.55sINFOmove_group* - save_geometry_to_file ×2 + 19.55sINFOmove_group* - GetPlanningGroups ×2 + 19.55sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.55sINFOmove_group[0m ×2 + 19.55sINFOmove_group[92mYou can start planning now![0m ×2 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033782 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033782 ms (missed cycles : 3).[0m ×2 + 20.70sWARNobjective_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 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069876 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069876 ms (missed cycles : 2).[0m ×2 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173547 ms (missed cycles : 4). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173547 ms (missed cycles : 4).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840570 ms (missed cycles : 4). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840570 ms (missed cycles : 4).[0m ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136911 ms (missed cycles : 2). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136911 ms (missed cycles : 2).[0m ×2 + 25.02sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 25.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 25.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 25.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 25.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 25.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 25.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197755 ms (missed cycles : 2). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197755 ms (missed cycles : 2).[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457836 ms (missed cycles : 3). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457836 ms (missed cycles : 3).[0m ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852136 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852136 ms (missed cycles : 2).[0m ×2 + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305799 ms (missed cycles : 2). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305799 ms (missed cycles : 2).[0m ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3).[0m ×2 + 30.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 30.79sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 30.79sINFOobjective_server_nodeobjective_name: "" ×12 + 30.79sINFOobjective_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 + 30.79sINFOobjective_server_node ×56 + 30.79sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 30.79sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 30.79sINFOobjective_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 + 30.79sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 30.79sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 30.79sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 30.79sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 30.79sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 30.79sINFOobjective_server_node</Control> ×24 + 30.79sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 30.79sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 30.79sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 30.79sINFOobjective_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=\"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 + 30.79sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 30.79sINFOobjective_server_nodeparameter_overrides: [] ×14 + 30.79sINFOobjective_server_nodecaller: ×14 + 30.79sINFOobjective_server_nodetype: 0 ×14 + 30.79sINFOobjective_server_nodename: "" ×14 + 30.79sINFOobjective_server_nodeinstance_id: "" ×14 + 30.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899481.96153331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2).[0m ×2 + 30.94sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.06176591 seconds ×3 + 30.99sINFOobjective_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 + 31.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 31.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.16540504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.23560286 seconds ×3 + 31.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 31.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 31.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 31.80sINFOobjective_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 + 31.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 32.02sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 32.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 32.58sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 32.62sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 32.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 33.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 33.43sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 33.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 33.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 33.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 33.48sINFOmove_groupClearing octomap...[0m ×2 + 33.48sINFOmove_groupOctomap cleared.[0m ×2 + 33.49sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 33.49sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 33.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3
✓ passed	—	hover_fails	0.9s	6 errors · 21 warnings · 691 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305799 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305799 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.15sINFOobjective_server_nodeobjective_name: "" ×12 + 2.15sINFOobjective_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 + 2.15sINFOobjective_server_node ×62 + 2.15sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.15sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.15sINFOobjective_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 + 2.15sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.15sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.15sINFOobjective_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 + 2.15sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.15sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.15sINFOobjective_server_node</Control> ×24 + 2.15sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.15sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.15sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.15sINFOobjective_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 + 2.15sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.15sINFOobjective_server_nodecaller: ×20 + 2.15sINFOobjective_server_nodetype: 0 ×20 + 2.15sINFOobjective_server_nodename: "" ×20 + 2.15sINFOobjective_server_nodeinstance_id: "" ×20 + 2.19sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899481.96153331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.06176591 seconds ×3 + 2.35sINFOobjective_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 + 2.35sINFOobjective_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 + 2.40sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.16540504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.23560286 seconds ×3 + 3.02sINFOobjective_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=\"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: "" + 3.02sINFOobjective_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=\"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 + 3.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 3.15sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.94sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 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: 1793899484.62530732 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 6.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3
✓ passed	—	placed	0.9s	6 errors · 24 warnings · 641 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852136 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305799 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305799 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3).[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 3.22sINFOobjective_server_nodeobjective_name: "" ×12 + 3.22sINFOobjective_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 + 3.22sINFOobjective_server_node ×60 + 3.22sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.22sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.22sINFOobjective_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 + 3.22sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.22sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.22sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.22sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.22sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.22sINFOobjective_server_node</Control> ×24 + 3.22sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.22sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.22sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.22sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 3.22sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×18 + 3.22sINFOobjective_server_nodecaller: ×18 + 3.22sINFOobjective_server_nodetype: 0 ×18 + 3.22sINFOobjective_server_nodename: "" ×18 + 3.22sINFOobjective_server_nodeinstance_id: "" ×18 + 3.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899481.96153331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.06176591 seconds ×3 + 3.42sINFOobjective_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=\"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 + 3.42sINFOobjective_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 + 3.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.16540504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.23560286 seconds ×3 + 4.09sINFOobjective_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: "" + 4.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 4.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 4.22sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.01sINFOobjective_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 + 5.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 5.23sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.91sINFOmove_groupClearing octomap...[0m ×2 + 5.91sINFOmove_groupOctomap cleared.[0m ×2 + 5.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 7.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 7.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2
✓ passed	—	release_fails	0.8s	6 errors · 21 warnings · 741 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.15sINFOobjective_server_nodeobjective_name: "" ×12 + 1.15sINFOobjective_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 + 1.15sINFOobjective_server_node ×64 + 1.15sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.15sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.15sINFOobjective_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 + 1.15sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.15sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.15sINFOobjective_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 + 1.15sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.15sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.15sINFOobjective_server_node</Control> ×24 + 1.15sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.15sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.15sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.15sINFOobjective_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 + 1.15sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.15sINFOobjective_server_nodecaller: ×22 + 1.15sINFOobjective_server_nodetype: 0 ×22 + 1.15sINFOobjective_server_nodename: "" ×22 + 1.15sINFOobjective_server_nodeinstance_id: "" ×22 + 1.19sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899481.96153331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.06176591 seconds ×3 + 1.35sINFOobjective_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 + 1.35sINFOobjective_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 + 1.40sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.16540504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.23560286 seconds ×3 + 2.02sINFOobjective_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=\"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: "" + 2.02sINFOobjective_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=\"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 + 2.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 2.15sINFOobjective_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 + 2.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.84sINFOmove_groupClearing octomap...[0m ×2 + 3.84sINFOmove_groupOctomap cleared.[0m ×2 + 3.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 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 2.852136 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852136 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305799 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305799 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738849 ms (missed cycles : 3).[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.22sINFOobjective_server_nodeobjective_name: "" ×12 + 3.22sINFOobjective_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 + 3.22sINFOobjective_server_node ×58 + 3.22sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.22sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.22sINFOobjective_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 + 3.22sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.22sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.22sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.22sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.22sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.22sINFOobjective_server_node</Control> ×24 + 3.22sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.22sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.22sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.22sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 3.22sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.22sINFOobjective_server_nodecaller: ×16 + 3.22sINFOobjective_server_nodetype: 0 ×16 + 3.22sINFOobjective_server_nodename: "" ×16 + 3.22sINFOobjective_server_nodeinstance_id: "" ×16 + 3.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899481.96153331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.06176591 seconds ×3 + 3.42sINFOobjective_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=\"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 + 3.42sINFOobjective_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 + 3.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.16540504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.23560286 seconds ×3 + 4.09sINFOobjective_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: "" + 4.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 4.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 4.22sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.01sINFOobjective_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 + 5.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 5.23sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 5.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.91sINFOmove_groupClearing octomap...[0m ×2 + 5.91sINFOmove_groupOctomap cleared.[0m ×2 + 5.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOvacuum_gripperReceived & accepted new action goal + 6.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3

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

15 pass27 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	72.7s	3 errors · 248 warnings · 289 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088106 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088106 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.004ms + 0.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.530ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554901 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554901 ms (missed cycles : 2).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.883ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389739 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389739 ms (missed cycles : 3).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.628ms + 2.87sINFOobjective_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 + 2.87sINFOjoint_trajectory_controllerGot request to cancel goal + 2.87sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793899700.88279533 seconds ×3 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.676ms + 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 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOstate_estimatorReceived a set_pose request (stamp: 1793899700900236347, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950893 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950893 ms (missed cycles : 2).[0m ×2 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-0.63, 3.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-1.53, 3.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793899701.48190236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.936ms + 3.59sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.59sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.975ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912442 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912442 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868189 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868189 ms (missed cycles : 4).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.13sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.13sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.13sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249756 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249756 ms (missed cycles : 4).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990786 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990786 ms (missed cycles : 2).[0m ×2 + 8.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.365ms + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469623 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469623 ms (missed cycles : 3).[0m ×2 + 8.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.699ms + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754429 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754429 ms (missed cycles : 3).[0m ×2 + 9.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.547ms + 10.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.403ms + 10.65sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050253 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050253 ms (missed cycles : 3).[0m ×2 + 11.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.482ms + 11.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.815ms + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502923 ms (missed cycles : 4). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502923 ms (missed cycles : 4).[0m ×2 + 12.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.525ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984246 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984246 ms (missed cycles : 2).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.271ms + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.542ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693337 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693337 ms (missed cycles : 3).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.476ms + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287558 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287558 ms (missed cycles : 3).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.418ms + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.445ms + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580174 ms (missed cycles : 3). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580174 ms (missed cycles : 3).[0m ×2 + 16.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.048ms + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.541ms + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089439 ms (missed cycles : 4). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089439 ms (missed cycles : 4).[0m ×2 + 18.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.231ms + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106787 ms (missed cycles : 3). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106787 ms (missed cycles : 3).[0m ×2 + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.787ms + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.609ms + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930039 ms (missed cycles : 3). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930039 ms (missed cycles : 3).[0m ×2 + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.247ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793538 ms (missed cycles : 3). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793538 ms (missed cycles : 3).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.356ms + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753221 ms (missed cycles : 3). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753221 ms (missed cycles : 3).[0m ×2 + 21.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.607ms + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.130ms + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494606 ms (missed cycles : 3). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494606 ms (missed cycles : 3).[0m ×2 + 23.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.502ms + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211696 ms (missed cycles : 5). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211696 ms (missed cycles : 5).[0m ×2 + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.198ms + 24.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.275ms + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733001 ms (missed cycles : 3). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733001 ms (missed cycles : 3).[0m ×2 + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.328ms + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926217 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926217 ms (missed cycles : 2).[0m ×2 + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.410ms + 26.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.267ms + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109200 ms (missed cycles : 2). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109200 ms (missed cycles : 2).[0m ×2 + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.882ms + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360130 ms (missed cycles : 5). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360130 ms (missed cycles : 5).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.779ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.179ms + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487851 ms (missed cycles : 4). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487851 ms (missed cycles : 4).[0m ×2 + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.731ms + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351894 ms (missed cycles : 3). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351894 ms (missed cycles : 3).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.842ms + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.591ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485486 ms (missed cycles : 3). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485486 ms (missed cycles : 3).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.538ms + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713657 ms (missed cycles : 3). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713657 ms (missed cycles : 3).[0m ×2 + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.662ms + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.532ms + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485181 ms (missed cycles : 3). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485181 ms (missed cycles : 3).[0m ×2 + 34.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.541ms + 34.50sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.51sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023405 ms (missed cycles : 2). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023405 ms (missed cycles : 2).[0m ×2 + 35.21sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241924 ms (missed cycles : 3). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241924 ms (missed cycles : 3).[0m ×2 + 35.99sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031647 ms (missed cycles : 4). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031647 ms (missed cycles : 4).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564488 ms (missed cycles : 2). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564488 ms (missed cycles : 2).[0m ×2 + 38.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.645ms + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634025 ms (missed cycles : 4). + 38.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634025 ms (missed cycles : 4).[0m ×2 + 39.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.672ms + 39.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298915 ms (missed cycles : 2). + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298915 ms (missed cycles : 2).[0m ×2 + 40.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.275ms + 40.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.601ms + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282030 ms (missed cycles : 2). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282030 ms (missed cycles : 2).[0m ×2 + 41.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.472ms + 41.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.157ms + 41.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436610 ms (missed cycles : 6). + 41.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.436610 ms (missed cycles : 6).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108376 ms (missed cycles : 2). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108376 ms (missed cycles : 2).[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544823 ms (missed cycles : 4). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544823 ms (missed cycles : 4).[0m ×2 + 44.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.512ms + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646928 ms (missed cycles : 4). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.646928 ms (missed cycles : 4).[0m ×2 + 45.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.944ms + 45.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.117ms + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495402 ms (missed cycles : 3). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495402 ms (missed cycles : 3).[0m ×2 + 46.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.858ms + 47.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412032 ms (missed cycles : 3). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412032 ms (missed cycles : 3).[0m ×2 + 47.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.151ms + 48.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.010ms + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964226 ms (missed cycles : 3). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964226 ms (missed cycles : 3).[0m ×2 + 48.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.274ms + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748904 ms (missed cycles : 2). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748904 ms (missed cycles : 2).[0m ×2 + 49.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.704ms + 50.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.430ms + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364463 ms (missed cycles : 5). + 50.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364463 ms (missed cycles : 5).[0m ×2 + 50.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.600ms + 51.54sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 51.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506545 ms (missed cycles : 4). + 51.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506545 ms (missed cycles : 4).[0m ×2 + 52.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148359 ms (missed cycles : 2). + 52.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148359 ms (missed cycles : 2).[0m ×2 + 53.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.346ms + 53.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883687 ms (missed cycles : 3). + 53.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883687 ms (missed cycles : 3).[0m ×2 + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281669 ms (missed cycles : 2). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281669 ms (missed cycles : 2).[0m ×2 + 55.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.150ms + 56.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013578 ms (missed cycles : 2). + 56.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013578 ms (missed cycles : 2).[0m ×2 + 56.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.048ms + 56.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.427ms + 57.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415837 ms (missed cycles : 3). + 57.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415837 ms (missed cycles : 3).[0m ×2 + 57.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.207ms + 58.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039021 ms (missed cycles : 4). + 58.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039021 ms (missed cycles : 4).[0m ×2 + 58.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.601ms + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753878 ms (missed cycles : 3). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753878 ms (missed cycles : 3).[0m ×2 + 59.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.462ms + 59.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.342ms + 60.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423160 ms (missed cycles : 4). + 60.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423160 ms (missed cycles : 4).[0m ×2 + 60.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.783ms + 61.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953907 ms (missed cycles : 2). + 61.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953907 ms (missed cycles : 2).[0m ×2 + 61.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.013ms + 62.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.211ms + 62.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913439 ms (missed cycles : 3). + 62.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913439 ms (missed cycles : 3).[0m ×2 + 62.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.956ms + 63.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248564 ms (missed cycles : 5). + 63.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.248564 ms (missed cycles : 5).[0m ×2 + 63.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.449ms + 64.15sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 64.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721632 ms (missed cycles : 2). + 64.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721632 ms (missed cycles : 2).[0m ×2 + 65.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198600 ms (missed cycles : 2). + 65.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198600 ms (missed cycles : 2).[0m ×2 + 65.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.430ms + 66.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129939 ms (missed cycles : 2). + 66.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129939 ms (missed cycles : 2).[0m ×2 + 67.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744682 ms (missed cycles : 3). + 67.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744682 ms (missed cycles : 3).[0m ×2 + 68.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.027ms + 68.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822094 ms (missed cycles : 2). + 68.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822094 ms (missed cycles : 2).[0m ×2 + 68.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.505ms + 69.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.389ms + 69.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648630 ms (missed cycles : 4). + 69.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648630 ms (missed cycles : 4).[0m ×2 + 70.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.264ms + 70.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.700ms + 70.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967959 ms (missed cycles : 3). + 70.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967959 ms (missed cycles : 3).[0m ×2 + 70.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.526ms + 71.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.957ms + 71.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.364ms + 71.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705908 ms (missed cycles : 3). + 71.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705908 ms (missed cycles : 3).[0m ×2 + 72.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.035ms + 72.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.430ms + 72.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543761 ms (missed cycles : 5). + 72.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543761 ms (missed cycles : 5).[0m ×2 + 73.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.861ms + 73.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.894ms + 73.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.929ms + 74.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465723 ms (missed cycles : 2). + 74.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465723 ms (missed cycles : 2).[0m ×2 + 74.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.583ms + 75.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227896 ms (missed cycles : 2). + 75.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227896 ms (missed cycles : 2).[0m ×2 + 75.61sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793899773.60210299 seconds ×3 + 75.64sINFOstate_estimatorReceived a set_pose request (stamp: 1793899773618702636, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 75.68sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.27) is out of map bounds (-3.25, 0.80) to (1.73, 5.78). The costmap cannot raytrace for it. + 75.68sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.91) is out of map bounds (-3.25, 0.80) to (1.73, 5.78). The costmap cannot raytrace for it. + 75.78sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 75.78sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 75.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.270ms + 75.88sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 75.88sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 76.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877488 ms (missed cycles : 4). + 76.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877488 ms (missed cycles : 4).[0m ×2 + 76.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 76.15sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 76.19sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.556ms + 76.19sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569019, y=-0.0171798, yaw=-0.0184 + 76.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793899774.19390917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.363ms + 77.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014830 ms (missed cycles : 2). + 77.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014830 ms (missed cycles : 2).[0m ×2 + 78.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045201 ms (missed cycles : 4). + 78.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045201 ms (missed cycles : 4).[0m ×2 + 79.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 79.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.6s	189 warnings · 211 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_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 + 2.87sINFOcontroller_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 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678192 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678192 ms (missed cycles : 2).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.395ms + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035548 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035548 ms (missed cycles : 3).[0m ×2 + 9.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.884ms + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428912 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428912 ms (missed cycles : 3).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.496ms + 10.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.852ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718975 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718975 ms (missed cycles : 3).[0m ×2 + 11.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.204ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040871 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040871 ms (missed cycles : 2).[0m ×2 + 11.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.931ms + 12.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.140ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716738 ms (missed cycles : 5). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716738 ms (missed cycles : 5).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.852ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340657 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340657 ms (missed cycles : 2).[0m ×2 + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.520ms + 14.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.599ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486846 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486846 ms (missed cycles : 3).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.788ms + 16.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.298ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093241 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093241 ms (missed cycles : 3).[0m ×2 + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.503ms + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.537ms + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184630 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184630 ms (missed cycles : 2).[0m ×2 + 18.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.386ms + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389564 ms (missed cycles : 2). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389564 ms (missed cycles : 2).[0m ×2 + 18.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.091ms + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.344ms + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190230 ms (missed cycles : 3). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190230 ms (missed cycles : 3).[0m ×2 + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.131ms + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102226 ms (missed cycles : 2). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102226 ms (missed cycles : 2).[0m ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.270ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052848 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052848 ms (missed cycles : 2).[0m ×2 + 21.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.947ms + 22.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.352ms + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963233 ms (missed cycles : 3). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963233 ms (missed cycles : 3).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.522ms + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725825 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725825 ms (missed cycles : 2).[0m ×2 + 23.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.313ms + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.684ms + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531879 ms (missed cycles : 3). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531879 ms (missed cycles : 3).[0m ×2 + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.654ms + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554510 ms (missed cycles : 4). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.554510 ms (missed cycles : 4).[0m ×2 + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.215ms + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.277ms + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096820 ms (missed cycles : 2). + 27.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096820 ms (missed cycles : 2).[0m ×2 + 27.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.698ms + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680287 ms (missed cycles : 2). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680287 ms (missed cycles : 2).[0m ×2 + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.781ms ×2 + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.952ms + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895699 ms (missed cycles : 3). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895699 ms (missed cycles : 3).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.055ms + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305028 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305028 ms (missed cycles : 2).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.125ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163550 ms (missed cycles : 2). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163550 ms (missed cycles : 2).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.438ms + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938084 ms (missed cycles : 3). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938084 ms (missed cycles : 3).[0m ×2 + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.299ms + 33.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.836ms + 33.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735551 ms (missed cycles : 2). + 33.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735551 ms (missed cycles : 2).[0m ×2 + 34.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.034ms + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471897 ms (missed cycles : 4). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471897 ms (missed cycles : 4).[0m ×2 + 34.53sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.56sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807917 ms (missed cycles : 3). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807917 ms (missed cycles : 3).[0m ×2 + 36.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988561 ms (missed cycles : 5). + 36.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988561 ms (missed cycles : 5).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169551 ms (missed cycles : 3). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169551 ms (missed cycles : 3).[0m ×2 + 37.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.542ms + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793390 ms (missed cycles : 3). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793390 ms (missed cycles : 3).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661323 ms (missed cycles : 3). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661323 ms (missed cycles : 3).[0m ×2 + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029586 ms (missed cycles : 4). + 41.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029586 ms (missed cycles : 4).[0m ×2 + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.713ms + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848783 ms (missed cycles : 3). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848783 ms (missed cycles : 3).[0m ×2 + 43.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731476 ms (missed cycles : 4). + 43.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731476 ms (missed cycles : 4).[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428087 ms (missed cycles : 3). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428087 ms (missed cycles : 3).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761398 ms (missed cycles : 2). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761398 ms (missed cycles : 2).[0m ×2 + 45.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.530ms + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811304 ms (missed cycles : 3). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811304 ms (missed cycles : 3).[0m ×2 + 47.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200246 ms (missed cycles : 3). + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200246 ms (missed cycles : 3).[0m ×2 + 47.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.159ms + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709631 ms (missed cycles : 5). + 48.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709631 ms (missed cycles : 5).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.579ms + 49.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300531 ms (missed cycles : 4). + 49.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300531 ms (missed cycles : 4).[0m ×2 + 50.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002100 ms (missed cycles : 2). + 50.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002100 ms (missed cycles : 2).[0m ×2 + 51.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 51.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.116ms + 51.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139669 ms (missed cycles : 2). + 51.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139669 ms (missed cycles : 2).[0m ×2 + 52.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.155ms + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271395 ms (missed cycles : 6). + 52.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271395 ms (missed cycles : 6).[0m ×2 + 53.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860818 ms (missed cycles : 5). + 53.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860818 ms (missed cycles : 5).[0m ×2 + 54.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446382 ms (missed cycles : 3). + 54.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446382 ms (missed cycles : 3).[0m ×2 + 55.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.893ms + 55.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139353 ms (missed cycles : 2). + 55.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139353 ms (missed cycles : 2).[0m ×2 + 56.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.647ms + 56.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384239 ms (missed cycles : 2). + 56.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384239 ms (missed cycles : 2).[0m ×2 + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423160 ms (missed cycles : 4). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423160 ms (missed cycles : 4).[0m ×2 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382731 ms (missed cycles : 3). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382731 ms (missed cycles : 3).[0m ×2 + 59.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.974ms + 60.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699742 ms (missed cycles : 5). + 60.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699742 ms (missed cycles : 5).[0m ×2 + 60.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793899837.67622662 seconds ×3 + 60.44sINFOstate_estimatorReceived a set_pose request (stamp: 1793899837695383235, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.51sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-3.85, 2.55) to (1.13, 7.53). The costmap cannot raytrace for it. + 60.51sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-3.85, 2.55) to (1.13, 7.53). The costmap cannot raytrace for it. + 60.61sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.61sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.81sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.841ms + 60.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.95sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793899838.28674269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262054 ms (missed cycles : 3). + 61.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262054 ms (missed cycles : 3).[0m ×2 + 61.42sINFOobjective_server_nodeFound path in 0 iterations (6.88e-07 s). ×2 + 61.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926114 ms (missed cycles : 5). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926114 ms (missed cycles : 5).[0m ×2 + 62.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 62.54sINFOamclInitializing particles from estimated pose and covariance + 62.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 62.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549751, y=-0.0166322, yaw=-0.0172734 + 62.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.984ms + 63.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185193 ms (missed cycles : 2). + 63.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185193 ms (missed cycles : 2).[0m ×2 + 64.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037451 ms (missed cycles : 4). + 64.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037451 ms (missed cycles : 4).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.4s	193 warnings · 234 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.233ms + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.804ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.693ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.839ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.153ms + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599044 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599044 ms (missed cycles : 3).[0m ×2 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.600ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.305ms + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.520ms + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353685 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353685 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.106ms + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.82sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793899537.92163849 seconds ×3 + 2.86sINFOcontroller_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 + 2.87sINFOros2_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 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOstate_estimatorReceived a set_pose request (stamp: 1793899537939071778, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.216ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793899538.51825762 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 + 3.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.440ms + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.54sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568623, y=-0.0171805, yaw=-0.0184 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905220 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905220 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.242ms + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706070 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706070 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215597 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215597 ms (missed cycles : 4).[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 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281902 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281902 ms (missed cycles : 3).[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495313 ms (missed cycles : 3). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495313 ms (missed cycles : 3).[0m ×2 + 8.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.156ms + 8.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.825ms + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834564 ms (missed cycles : 5). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834564 ms (missed cycles : 5).[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.640ms + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118345 ms (missed cycles : 5). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118345 ms (missed cycles : 5).[0m ×2 + 10.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.138ms + 10.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.405ms + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826842 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826842 ms (missed cycles : 2).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.969ms + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692520 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692520 ms (missed cycles : 3).[0m ×2 + 12.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.368ms + 12.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.184ms + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680789 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680789 ms (missed cycles : 3).[0m ×2 + 13.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767911 ms (missed cycles : 3). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767911 ms (missed cycles : 3).[0m ×2 + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.981ms + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.486ms + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210276 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210276 ms (missed cycles : 2).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.959ms + 16.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.362ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813604 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813604 ms (missed cycles : 3).[0m ×2 + 16.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.831ms + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735808 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735808 ms (missed cycles : 2).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.720ms + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.882ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759661 ms (missed cycles : 3). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759661 ms (missed cycles : 3).[0m ×2 + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.228ms + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634520 ms (missed cycles : 3). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634520 ms (missed cycles : 3).[0m ×2 + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.634ms + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.143ms + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826754 ms (missed cycles : 2). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826754 ms (missed cycles : 2).[0m ×2 + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.100ms + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287069 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287069 ms (missed cycles : 2).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.727ms + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.160ms + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305677 ms (missed cycles : 2). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305677 ms (missed cycles : 2).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.689ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391767 ms (missed cycles : 3). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391767 ms (missed cycles : 3).[0m ×2 + 23.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.749ms + 24.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.913ms + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146665 ms (missed cycles : 2). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146665 ms (missed cycles : 2).[0m ×2 + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.811ms + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851707 ms (missed cycles : 2). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851707 ms (missed cycles : 2).[0m ×2 + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.258ms + 26.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.488ms + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823875 ms (missed cycles : 3). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823875 ms (missed cycles : 3).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.401ms + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749696 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749696 ms (missed cycles : 2).[0m ×2 + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.311ms + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.366ms + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187775 ms (missed cycles : 3). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187775 ms (missed cycles : 3).[0m ×2 + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.173ms + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179248 ms (missed cycles : 4). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179248 ms (missed cycles : 4).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.832ms + 30.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.996ms + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346451 ms (missed cycles : 3). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346451 ms (missed cycles : 3).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.397ms + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.038ms + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694464 ms (missed cycles : 2). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694464 ms (missed cycles : 2).[0m ×2 + 32.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.204ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050673 ms (missed cycles : 2). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050673 ms (missed cycles : 2).[0m ×2 + 33.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.336ms + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648800 ms (missed cycles : 3). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648800 ms (missed cycles : 3).[0m ×2 + 34.45sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.51sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.970ms + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412444 ms (missed cycles : 3). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412444 ms (missed cycles : 3).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351850 ms (missed cycles : 5). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351850 ms (missed cycles : 5).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441676 ms (missed cycles : 3). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441676 ms (missed cycles : 3).[0m ×2 + 37.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.987ms + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685736 ms (missed cycles : 3). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685736 ms (missed cycles : 3).[0m ×2 + 38.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.019ms + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576601 ms (missed cycles : 3). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576601 ms (missed cycles : 3).[0m ×2 + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151180 ms (missed cycles : 4). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151180 ms (missed cycles : 4).[0m ×2 + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.048ms + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205230 ms (missed cycles : 4). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205230 ms (missed cycles : 4).[0m ×2 + 42.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.558ms + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640640 ms (missed cycles : 3). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640640 ms (missed cycles : 3).[0m ×2 + 43.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752109 ms (missed cycles : 3). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752109 ms (missed cycles : 3).[0m ×2 + 44.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.489ms + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674313 ms (missed cycles : 2). + 44.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674313 ms (missed cycles : 2).[0m ×2 + 45.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.077ms + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546592 ms (missed cycles : 2). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546592 ms (missed cycles : 2).[0m ×2 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190088 ms (missed cycles : 5). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190088 ms (missed cycles : 5).[0m ×2 + 47.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621172 ms (missed cycles : 4). + 47.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621172 ms (missed cycles : 4).[0m ×2 + 47.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.501ms + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814531 ms (missed cycles : 3). + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814531 ms (missed cycles : 3).[0m ×2 + 49.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.617ms + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247278 ms (missed cycles : 5). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247278 ms (missed cycles : 5).[0m ×2 + 50.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862100 ms (missed cycles : 5). + 50.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862100 ms (missed cycles : 5).[0m ×2 + 51.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.877ms + 51.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261721 ms (missed cycles : 2). + 51.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261721 ms (missed cycles : 2).[0m ×2 + 52.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.091ms + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843851 ms (missed cycles : 3). + 52.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843851 ms (missed cycles : 3).[0m ×2 + 53.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 54.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617362 ms (missed cycles : 3). + 54.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617362 ms (missed cycles : 3).[0m ×2 + 55.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152605 ms (missed cycles : 2). + 55.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152605 ms (missed cycles : 2).[0m ×2 + 55.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.394ms + 56.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331260 ms (missed cycles : 2). + 56.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331260 ms (missed cycles : 2).[0m ×2 + 56.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.241ms + 57.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943418 ms (missed cycles : 5). + 57.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943418 ms (missed cycles : 5).[0m ×2 + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3). + 58.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3).[0m ×2 + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3).[0m ×2 + 59.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.537ms + 60.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3). + 60.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3).[0m ×2 + 60.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 60.30sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793899595.36844134 seconds ×3 + 60.34sINFOstate_estimatorReceived a set_pose request (stamp: 1793899595391958363, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.41sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.65) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 60.41sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 60.51sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 60.51sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 60.61sWARNlocal_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. ×3 + 60.61sWARNlocal_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. ×3 + 60.83sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.191ms + 60.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 60.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.86sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.91sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793899595.97304893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3). + 61.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3).[0m ×2 + 61.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.890ms + 61.32sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 61.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2).[0m ×2 + 63.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3). + 63.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.6s	191 warnings · 234 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.607ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.316ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.503ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793899634.37909341 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOstate_estimatorReceived a set_pose request (stamp: 1793899634401100095, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.637ms + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793899634.97537756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4).[0m ×2 + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.20sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.902ms + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.27sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.27sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166373 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166373 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257353 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257353 ms (missed cycles : 2).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.011ms + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.520ms + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570266 ms (missed cycles : 3). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570266 ms (missed cycles : 3).[0m ×2 + 10.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.367ms + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769692 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769692 ms (missed cycles : 2).[0m ×2 + 11.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.159ms + 11.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.531ms + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331179 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331179 ms (missed cycles : 2).[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.271ms + 13.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.511ms + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474503 ms (missed cycles : 5). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474503 ms (missed cycles : 5).[0m ×2 + 13.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.181ms + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.901ms + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.348ms + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031615 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031615 ms (missed cycles : 2).[0m ×2 + 15.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.053ms + 16.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.186ms + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056036 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056036 ms (missed cycles : 3).[0m ×2 + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.458ms + 17.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808152 ms (missed cycles : 3). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808152 ms (missed cycles : 3).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.431ms + 18.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.631ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847079 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847079 ms (missed cycles : 2).[0m ×2 + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.767ms + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563702 ms (missed cycles : 3). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563702 ms (missed cycles : 3).[0m ×2 + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.408ms + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.882ms + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247770 ms (missed cycles : 5). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247770 ms (missed cycles : 5).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.528ms + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.183ms + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315662 ms (missed cycles : 2). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315662 ms (missed cycles : 2).[0m ×2 + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.618ms + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083522 ms (missed cycles : 5). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083522 ms (missed cycles : 5).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.429ms + 23.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.551ms + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157963 ms (missed cycles : 5). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157963 ms (missed cycles : 5).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.211ms + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770902 ms (missed cycles : 3). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770902 ms (missed cycles : 3).[0m ×2 + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.118ms + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811475 ms (missed cycles : 2). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811475 ms (missed cycles : 2).[0m ×2 + 26.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208529 ms (missed cycles : 2). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208529 ms (missed cycles : 2).[0m ×2 + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.832ms + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.282ms + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044813 ms (missed cycles : 2). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044813 ms (missed cycles : 2).[0m ×2 + 28.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.413ms + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648605 ms (missed cycles : 3). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648605 ms (missed cycles : 3).[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.128ms + 30.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.589ms + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047926 ms (missed cycles : 3). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047926 ms (missed cycles : 3).[0m ×2 + 30.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.449ms + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582238 ms (missed cycles : 3). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582238 ms (missed cycles : 3).[0m ×2 + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.197ms + 32.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.622ms + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857139 ms (missed cycles : 2). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857139 ms (missed cycles : 2).[0m ×2 + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.961ms + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.495ms + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089743 ms (missed cycles : 3). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089743 ms (missed cycles : 3).[0m ×2 + 34.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861934 ms (missed cycles : 5). + 34.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861934 ms (missed cycles : 5).[0m ×2 + 34.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.455ms + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166582 ms (missed cycles : 2). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166582 ms (missed cycles : 2).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.388586 ms (missed cycles : 5). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.388586 ms (missed cycles : 5).[0m ×2 + 37.40sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.528694 ms (missed cycles : 6). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.528694 ms (missed cycles : 6).[0m ×2 + 38.23sINFOobjective_server_nodePlanning for 45 path waypoints. ×3 + 38.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113305 ms (missed cycles : 2). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113305 ms (missed cycles : 2).[0m ×2 + 40.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905657 ms (missed cycles : 2). + 40.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905657 ms (missed cycles : 2).[0m ×2 + 40.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.639ms + 40.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.679ms + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590737 ms (missed cycles : 2). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590737 ms (missed cycles : 2).[0m ×2 + 41.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.089ms + 41.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.907ms + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457171 ms (missed cycles : 3). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457171 ms (missed cycles : 3).[0m ×2 + 42.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.473ms + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093049 ms (missed cycles : 2). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093049 ms (missed cycles : 2).[0m ×2 + 43.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.043ms + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834218 ms (missed cycles : 2). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834218 ms (missed cycles : 2).[0m ×2 + 44.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.173ms + 45.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.672963 ms (missed cycles : 5). + 45.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.672963 ms (missed cycles : 5).[0m ×2 + 46.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.298ms + 46.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501094 ms (missed cycles : 3). + 46.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501094 ms (missed cycles : 3).[0m ×2 + 46.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.501ms + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854573 ms (missed cycles : 5). + 47.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854573 ms (missed cycles : 5).[0m ×2 + 47.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.619ms + 48.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.874ms + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312837 ms (missed cycles : 2). + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312837 ms (missed cycles : 2).[0m ×2 + 48.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.943ms + 49.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749801 ms (missed cycles : 2). + 49.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749801 ms (missed cycles : 2).[0m ×2 + 49.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.675ms + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503911 ms (missed cycles : 4). + 50.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503911 ms (missed cycles : 4).[0m ×2 + 50.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.671ms + 51.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.080ms + 51.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963272 ms (missed cycles : 3). + 51.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963272 ms (missed cycles : 3).[0m ×2 + 52.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.537ms + 52.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735958 ms (missed cycles : 3). + 52.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735958 ms (missed cycles : 3).[0m ×2 + 52.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.858ms + 53.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805112 ms (missed cycles : 2). + 53.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805112 ms (missed cycles : 2).[0m ×2 + 53.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.492ms + 54.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766183 ms (missed cycles : 6). + 54.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766183 ms (missed cycles : 6).[0m ×2 + 55.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.266ms + 55.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765124 ms (missed cycles : 2). + 55.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765124 ms (missed cycles : 2).[0m ×2 + 56.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.795ms + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067950 ms (missed cycles : 3). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067950 ms (missed cycles : 3).[0m ×2 + 57.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.925ms + 58.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978624 ms (missed cycles : 2). + 58.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978624 ms (missed cycles : 2).[0m ×2 + 58.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793899689.94556665 seconds ×3 + 58.63sINFOstate_estimatorReceived a set_pose request (stamp: 1793899689962351814, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.82sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.82sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 58.92sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 58.92sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 59.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042841 ms (missed cycles : 2). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042841 ms (missed cycles : 2).[0m ×2 + 59.20sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793899690.55100298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.22sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.501ms + 59.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 59.60sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 59.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.361ms + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913333 ms (missed cycles : 2). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913333 ms (missed cycles : 2).[0m ×2 + 61.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733195 ms (missed cycles : 5). + 61.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733195 ms (missed cycles : 5).[0m ×2 + 62.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211644 ms (missed cycles : 4). + 62.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211644 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 426 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 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: 1793899485.20694709 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: 1793899485.26713443 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 0.12sINFOros2_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 + 0.75sINFOobjective_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 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_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 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450280 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450280 ms (missed cycles : 3).[0m ×2 + 7.56sINFOamclParticle filter update iteration stats: 1043 particles 811 points - 7.774ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709835 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709835 ms (missed cycles : 3).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503078 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503078 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304878 ms (missed cycles : 4). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304878 ms (missed cycles : 4).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800983 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800983 ms (missed cycles : 3).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838894 ms (missed cycles : 3). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838894 ms (missed cycles : 3).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260524 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260524 ms (missed cycles : 2).[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225873 ms (missed cycles : 3). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225873 ms (missed cycles : 3).[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518715 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518715 ms (missed cycles : 2).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396771 ms (missed cycles : 4). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396771 ms (missed cycles : 4).[0m ×2 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092785 ms (missed cycles : 2). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092785 ms (missed cycles : 2).[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959390 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959390 ms (missed cycles : 2).[0m ×2 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079430 ms (missed cycles : 3). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079430 ms (missed cycles : 3).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288066 ms (missed cycles : 4). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288066 ms (missed cycles : 4).[0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781387 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781387 ms (missed cycles : 2).[0m ×2 + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950621 ms (missed cycles : 3). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950621 ms (missed cycles : 3).[0m ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.817ms + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809338 ms (missed cycles : 3). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809338 ms (missed cycles : 3).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928603 ms (missed cycles : 2). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928603 ms (missed cycles : 2).[0m ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494180 ms (missed cycles : 3). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494180 ms (missed cycles : 3).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715779 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715779 ms (missed cycles : 2).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842823 ms (missed cycles : 2). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842823 ms (missed cycles : 2).[0m ×2 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729873 ms (missed cycles : 3). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729873 ms (missed cycles : 3).[0m ×2 + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649734 ms (missed cycles : 3). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649734 ms (missed cycles : 3).[0m ×2 + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872236 ms (missed cycles : 2). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872236 ms (missed cycles : 2).[0m ×2 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879240 ms (missed cycles : 2). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879240 ms (missed cycles : 2).[0m ×2 + 34.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473570 ms (missed cycles : 3). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473570 ms (missed cycles : 3).[0m ×2 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822125 ms (missed cycles : 3). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822125 ms (missed cycles : 3).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007888 ms (missed cycles : 2). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007888 ms (missed cycles : 2).[0m ×2 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737776 ms (missed cycles : 3). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737776 ms (missed cycles : 3).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.333ms + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498609 ms (missed cycles : 3). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498609 ms (missed cycles : 3).[0m ×2 + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542089 ms (missed cycles : 3). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542089 ms (missed cycles : 3).[0m ×2 + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629755 ms (missed cycles : 3). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629755 ms (missed cycles : 3).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146654 ms (missed cycles : 2). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146654 ms (missed cycles : 2).[0m ×2 + 42.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081722 ms (missed cycles : 3). + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081722 ms (missed cycles : 3).[0m ×2 + 43.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737424 ms (missed cycles : 3). + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737424 ms (missed cycles : 3).[0m ×2 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188512 ms (missed cycles : 2). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188512 ms (missed cycles : 2).[0m ×2 + 46.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491918 ms (missed cycles : 4). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491918 ms (missed cycles : 4).[0m ×2 + 46.54sINFOjoint_trajectory_controllerGoal reached, success! + 46.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793899531.75511146 seconds ×3 + 46.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.62sINFOstate_estimatorReceived a set_pose request (stamp: 1793899531773965802, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 47.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.13sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296624 ms (missed cycles : 2). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296624 ms (missed cycles : 2).[0m ×2 + 47.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793899532.34146714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.20sWARNobjective_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 + 47.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.628ms + 47.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.22sINFOamclInitializing particles from estimated pose and covariance + 47.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 47.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 29.053ms + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446948 ms (missed cycles : 4). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446948 ms (missed cycles : 4).[0m ×2 + 48.30sINFOobjective_server_nodeFound path in 0 iterations (2.6226e-05 s). ×2 + 48.37sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357453 ms (missed cycles : 3). + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357453 ms (missed cycles : 3).[0m ×2 + 49.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.443ms + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.233ms + 50.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.804ms + 50.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4). + 50.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.6s	114 warnings · 184 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179462 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179462 ms (missed cycles : 3).[0m ×2 + 0.87sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.87sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.91sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793899601.77321029 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814059 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814059 ms (missed cycles : 2).[0m ×2 + 1.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630403 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630403 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.45sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.45sINFOobjective_server_nodecaller: ×4 + 2.45sINFOobjective_server_nodetype: 0 ×4 + 2.45sINFOobjective_server_nodename: "" ×4 + 2.45sINFOobjective_server_nodeinstance_id: "" ×4 + 2.45sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793899603.36578560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917406 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917406 ms (missed cycles : 3).[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810216 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810216 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864445 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864445 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662182 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662182 ms (missed cycles : 3).[0m ×2 + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.100ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902260 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902260 ms (missed cycles : 3).[0m ×2 + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.954ms + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195031 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195031 ms (missed cycles : 2).[0m ×2 + 8.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.568ms + 9.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.955ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693474 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693474 ms (missed cycles : 3).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.249ms + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801918 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801918 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.373ms + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.041ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948725 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948725 ms (missed cycles : 3).[0m ×2 + 11.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.748ms + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.252ms + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065990 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065990 ms (missed cycles : 2).[0m ×2 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.387ms + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.550ms + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766830 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766830 ms (missed cycles : 3).[0m ×2 + 14.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.852ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797546 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797546 ms (missed cycles : 3).[0m ×2 + 15.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.497ms + 16.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.324ms + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159818 ms (missed cycles : 4). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159818 ms (missed cycles : 4).[0m ×2 + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.800ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535844 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535844 ms (missed cycles : 3).[0m ×2 + 17.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.196ms + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109267 ms (missed cycles : 4). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.109267 ms (missed cycles : 4).[0m ×2 + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.551ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973046 ms (missed cycles : 3). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973046 ms (missed cycles : 3).[0m ×2 + 19.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.754ms + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.903ms + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393190 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393190 ms (missed cycles : 2).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.140ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827155 ms (missed cycles : 2). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827155 ms (missed cycles : 2).[0m ×2 + 21.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.147ms + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.783ms + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265937 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265937 ms (missed cycles : 2).[0m ×2 + 22.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.135ms + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894578 ms (missed cycles : 2). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894578 ms (missed cycles : 2).[0m ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.622ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.530ms + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224131 ms (missed cycles : 2). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224131 ms (missed cycles : 2).[0m ×2 + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.332ms + 25.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.289ms + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887252 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887252 ms (missed cycles : 3).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.072ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741197 ms (missed cycles : 3). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741197 ms (missed cycles : 3).[0m ×2 + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.187ms + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.701ms + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904786 ms (missed cycles : 3). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904786 ms (missed cycles : 3).[0m ×2 + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.672ms + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554602 ms (missed cycles : 3). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554602 ms (missed cycles : 3).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.266ms + 29.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.379ms + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499453 ms (missed cycles : 4). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499453 ms (missed cycles : 4).[0m ×2 + 30.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.607ms + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.316ms + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.503ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4).[0m ×2 + 33.51sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793899634.37909341 seconds ×3 + 33.56sINFOstate_estimatorReceived a set_pose request (stamp: 1793899634401100095, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 33.61sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 33.61sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 33.71sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 33.71sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 33.91sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.637ms + 34.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.06sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793899634.97537756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3).[0m ×2 + 34.54sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4).[0m ×2 + 35.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.68sINFOamclInitializing particles from estimated pose and covariance + 35.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 36.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.902ms + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3).[0m ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	72 warnings · 257 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423160 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423160 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382731 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382731 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.974ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699742 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.699742 ms (missed cycles : 5).[0m ×2 + 2.40sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.40sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793899837.67622662 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.47sINFOstate_estimatorReceived a set_pose request (stamp: 1793899837695383235, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-3.85, 2.55) to (1.13, 7.53). The costmap cannot raytrace for it. + 2.54sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-3.85, 2.55) to (1.13, 7.53). The costmap cannot raytrace for it. + 2.64sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.64sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.84sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.841ms + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.99sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.99sINFOobjective_server_nodecaller: ×6 + 2.99sINFOobjective_server_nodetype: 0 ×6 + 2.99sINFOobjective_server_nodename: "" ×6 + 2.99sINFOobjective_server_nodeinstance_id: "" ×6 + 2.99sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793899838.28674269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.07sINFOobjective_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 4.262054 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262054 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (6.88e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.79sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.79sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926114 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926114 ms (missed cycles : 5).[0m ×2 + 4.57sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.57sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.57sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.57sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549751, y=-0.0166322, yaw=-0.0172734 + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 24.984ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185193 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185193 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037451 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037451 ms (missed cycles : 4).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381012 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381012 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696168 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696168 ms (missed cycles : 3).[0m ×2 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997039 ms (missed cycles : 5). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997039 ms (missed cycles : 5).[0m ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 9.66sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 9.82sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 10.22sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.27sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907375 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907375 ms (missed cycles : 3).[0m ×2 + 10.65sINFOobjective_server_nodeFound path in 33 iterations (0.0414984 s). ×2 + 11.15sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077993 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077993 ms (missed cycles : 2).[0m ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.90sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 12.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.75sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740777 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740777 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616709 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616709 ms (missed cycles : 3).[0m ×2 + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.511ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549498 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549498 ms (missed cycles : 3).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744583 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744583 ms (missed cycles : 2).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.528ms + 16.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.056ms + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373084 ms (missed cycles : 4). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373084 ms (missed cycles : 4).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.629ms + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253464 ms (missed cycles : 3). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253464 ms (missed cycles : 3).[0m ×2 + 18.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793899853.98704123 seconds ×3 + 18.79sINFOstate_estimatorReceived a set_pose request (stamp: 1793899854008751332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.355ms + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131777 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131777 ms (missed cycles : 2).[0m ×2 + 19.24sINFOamclParticle filter update iteration stats: 1988 particles 811 points - 5.505ms + 19.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793899854.61744022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.39sINFOmove_groupClearing octomap...[0m ×2 + 19.39sINFOmove_groupOctomap cleared.[0m ×2 + 19.40sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.40sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585597 ms (missed cycles : 5). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585597 ms (missed cycles : 5).[0m ×2 + 20.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793899855.74770212 seconds ×3 + 20.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 20.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 20.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570136, y=-0.017177, yaw=-0.0183973 + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.804ms + 21.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.05sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793899856.33157945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612011 ms (missed cycles : 3). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612011 ms (missed cycles : 3).[0m ×2 + 22.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793899857.51174378 seconds ×3 + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267660 ms (missed cycles : 2). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267660 ms (missed cycles : 2).[0m ×2 + 22.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	13.9s	122 errors · 30 warnings · 570 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.629ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253464 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253464 ms (missed cycles : 3).[0m ×2 + 1.23sINFOjoint_trajectory_controllerGoal reached, success! + 1.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793899853.98704123 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.29sINFOstate_estimatorReceived a set_pose request (stamp: 1793899854008751332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.355ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131777 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131777 ms (missed cycles : 2).[0m ×2 + 1.74sINFOamclParticle filter update iteration stats: 1988 particles 811 points - 5.505ms + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.79sINFOobjective_server_nodecaller: ×4 + 1.79sINFOobjective_server_nodetype: 0 ×4 + 1.79sINFOobjective_server_nodename: "" ×4 + 1.79sINFOobjective_server_nodeinstance_id: "" ×4 + 1.79sINFOobjective_server_node ×4 + 1.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793899854.61744022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.88sINFOmove_groupClearing octomap...[0m ×2 + 1.88sINFOmove_groupOctomap cleared.[0m ×2 + 1.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585597 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585597 ms (missed cycles : 5).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793899855.74770212 seconds ×3 + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.41sINFOamclInitializing particles from estimated pose and covariance + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570136, y=-0.017177, yaw=-0.0183973 + 3.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.804ms + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793899856.33157945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612011 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612011 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793899857.51174378 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267660 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267660 ms (missed cycles : 2).[0m ×2 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145826 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145826 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191369 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191369 ms (missed cycles : 3).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476061 ms (missed cycles : 3). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476061 ms (missed cycles : 3).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640289 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640289 ms (missed cycles : 3).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319170 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319170 ms (missed cycles : 2).[0m ×2 + 10.78sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.80sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.81sERRORweb_video_auth_proxy-41process has died [pid 8255, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.81sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORweb_bridge_auth_proxy-40process has died [pid 8254, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.81sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.85sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.87sINFOvideo_server-39process has finished cleanly [pid 8253] ×2 + 10.87sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.89sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.89sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.90sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.91sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.92sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.93sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.94sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.96sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.97sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.98sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.99sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 11.01sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 11.02sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 11.04sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 11.04sINFOcontroller_managerShutdown request received.... + 11.04sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.04sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.04sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.04sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.04sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.04sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.04sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.04sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.04sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.04sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.04sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.04sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.04sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.04sINFOcontroller_managerShutting down the controller manager. + 11.05sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 11.06sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 11.08sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 11.09sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.10sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.11sERRORmove_group-25process has died [pid 8231, 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_epuvxflz --params-file /tmp/launch_params_1vvg8y2t --params-file /tmp/launch_params_3wpos30l --params-file /tmp/launch_params_fj2r89kl --params-file /tmp/launch_params_d6h329ja --params-file /tmp/launch_params_30edrlu3']. ×2 + 11.11sINFOvideo_server2026/11/05 17:31:03 INF shutting down gracefully ×2 + 11.11sINFOvideo_server2026/11/05 17:31:03 INF [WebRTC] closing ×2 + 11.11sINFOvideo_server2026/11/05 17:31:03 INF [RTSP] closing ×2 + 11.11sINFOvideo_server2026/11/05 17:31:03 INF waiting for running hooks ×2 + 11.12sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.13sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 11.14sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 11.15sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 11.16sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.17sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.17sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.17sINFOmap_serverDeactivating + 11.17sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.18sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.18sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.18sINFOcontroller_serverDeactivating + 11.18sINFOlocal_costmap.local_costmapDeactivating + 11.18sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.18sINFOmap_serverCleaning up + 11.18sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.18sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.18sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.18sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.18sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.18sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.18sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.18sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.18sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.18sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.18sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.18sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.19sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.19sERRORmove_groupStack trace (most recent call last) in thread 9170: ×2 + 11.19sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.19sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.19sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.19sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.19sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.19sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.19sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.19sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.19sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.19sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.19sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.19sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.19sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3f4fe73cc3, in __clone ×2 + 11.19sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3f4fde6b83, in ×2 + 11.19sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3f50077db3, in ×2 + 11.19sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f3f507e1d64, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.19sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3f5040b620, in rclcpp::Rate::sleep() ×2 + 11.19sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3f5034dd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.19sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3f5030f087, in ×2 + 11.19sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3f50046390, in __cxa_throw ×2 + 11.19sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3f50030a54, in std::terminate() ×2 + 11.19sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3f500460d9, in ×2 + 11.19sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3f50030ff4, in ×2 + 11.19sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3f4fd728fe, in abort ×2 + 11.19sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3f4fd8f27d, in raise ×2 + 11.19sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3f4fde8c0c, in pthread_kill ×2 + 11.19sERRORmove_groupAborted (Signal sent by tkill() 8231 0) ×2 + 11.19sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.19sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.19sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.19sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sERRORamclThe bond connection to the lifecycle manager has been broken + 11.23sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.24sINFOcontroller_serverCleaning up + 11.24sINFOlocal_costmap.local_costmapCleaning up + 11.25sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.25sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.26sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.29sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.29sINFOsmoother_serverDeactivating + 11.29sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.30sINFOsmoother_serverCleaning up + 11.31sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.31sINFOplanner_serverDeactivating + 11.31sINFOglobal_costmap.global_costmapDeactivating + 11.33sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.33sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.33sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.33sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.33sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.33sINFOvelocity_smootherDeactivating + 11.33sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.45sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.45sINFOwaypoint_followerDeactivating + 11.45sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.56sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.56sINFObt_navigatorDeactivating + 11.56sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.67sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.68sINFObehavior_serverDeactivating + 11.68sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.79sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.79sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.79sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.79sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.79sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.79sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.79sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.79sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.79sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.79sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.79sINFOvelocity_smootherCleaning up + 11.79sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.79sINFOwaypoint_followerCleaning up + 11.82sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.82sINFObt_navigatorCleaning up + 11.92sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.92sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.92sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.92sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.92sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.92sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.92sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.92sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.92sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.92sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.92sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.92sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.93sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.93sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.93sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.93sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.93sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.93sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.93sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.93sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8249] ×2 + 11.93sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.93sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.93sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.94sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.94sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.94sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.94sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.94sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.94sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.94sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.94sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.94sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.94sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.94sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.94sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.94sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.94sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.94sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.94sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.94sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.98sERRORjoint_state_visualization_relay-37process has died [pid 8248, 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_t9yh4jxp']. ×2 + 11.98sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 12.00sERRORtf_visualization_relay-36process has died [pid 8247, 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_3beq83h5']. ×2 + 12.00sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 12.00sINFObt_navigatorCompleted Cleaning up + 12.01sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.01sINFObehavior_serverCleaning up + 12.03sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8235] ×2 + 12.05sINFOui_teleop_bridge-34process has finished cleanly [pid 8242] ×2 + 12.05sINFOexecute_objective_bridge-33process has finished cleanly [pid 8240] ×2 + 12.05sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8234] ×2 + 12.06sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.06sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.06sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.06sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.06sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.06sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.06sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.09sINFOparameter_manager_node-26process has finished cleanly [pid 8232] ×2 + 12.10sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.10sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.11sINFOplanner_serverCleaning up + 12.11sINFOrelay-11process has finished cleanly [pid 8168] ×2 + 12.12sINFOwaypoint_manager_node-27process has finished cleanly [pid 8233] ×2 + 12.12sINFOglobal_costmap.global_costmapCleaning up + 12.13sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.13sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.13sINFOrelay-10process has finished cleanly [pid 8167] ×2 + 12.14sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8169] ×2 + 12.14sINFOcomponent_container_mt-32process has finished cleanly [pid 8239] ×2 + 12.14sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8063] ×2 + 12.15sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8062] ×2 + 12.16sINFOstatic_transform_publisher-7process has finished cleanly [pid 8061] ×2 + 12.16sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.16sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.16sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.16sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.16sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.17sINFOstatic_transform_publisher-6process has finished cleanly [pid 8060] ×2 + 12.18sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.18sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 12.18sINFOlidar_flattener.pymain() ×2 + 12.18sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 12.18sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.18sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.18sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.18sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.18sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.18sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.18sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.18sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.18sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.18sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.19sINFOcomponent_container_mt-31process has finished cleanly [pid 8237] ×2 + 12.20sINFOstatic_transform_publisher-3process has finished cleanly [pid 8057] ×2 + 12.22sERRORlidar_flattener.py-5process has died [pid 8059, 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_ejs4klrt']. ×2 + 12.49sERRORcomponent_container_isolated-2process has died [pid 8056, 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_1e2ffuni --params-file /tmp/launch_params_pm0jxnq7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.50sERRORcomponent_container_isolated-1process has died [pid 8055, 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_1e2ffuni --params-file /tmp/launch_params_af22tapz -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.19sINFOodom_world_drift-4process has finished cleanly [pid 8058] ×2 + 13.77sINFOros2_control_node-13process has finished cleanly [pid 8170] ×2 + 13.80sINFOweb_bridge-35process has finished cleanly [pid 8246] ×2 + 13.80sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 15.79sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 15.79sINFOobjective_server_node_main-30sending signal 'SIGKILL' to process[objective_server_node_main-30] ×2 + 15.84sERRORobjective_server_node_main-30process has died [pid 8236, exit code -9, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_okhkrirl --params-file /tmp/launch_params__8t73t2s --params-file /tmp/launch_params_2bsb7r57 --params-file /tmp/launch_params_iug66my2 --params-file /tmp/launch_params_fdcd1qqn --params-file /tmp/launch_params_dxtwa8lf --params-file /tmp/launch_params_bkk3ip5u --params-file /tmp/launch_params_kkls1ssb --params-file /tmp/launch_params_te1krxaq']. ×2 + 15.84sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 71 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765124 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765124 ms (missed cycles : 2).[0m ×2 + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.795ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067950 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067950 ms (missed cycles : 3).[0m ×2 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.925ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978624 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978624 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.65sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793899689.94556665 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 + 2.69sINFOstate_estimatorReceived a set_pose request (stamp: 1793899689962351814, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.88sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" 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 - Loop" ×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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042841 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042841 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793899690.55100298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.501ms + 3.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.27sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.28sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.28sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.361ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913333 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913333 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733195 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733195 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211644 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211644 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714055 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714055 ms (missed cycles : 3).[0m ×2 + 7.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.458ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600933 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600933 ms (missed cycles : 4).[0m ×2 + 8.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.224ms + 9.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.438ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925466 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925466 ms (missed cycles : 2).[0m ×2 + 10.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.152ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088106 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088106 ms (missed cycles : 2).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.004ms + 11.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.530ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554901 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554901 ms (missed cycles : 2).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.883ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389739 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389739 ms (missed cycles : 3).[0m ×2 + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.628ms + 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 + 13.57sINFOjoint_trajectory_controllerGot request to cancel goal + 13.57sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.57sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.57sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.59sERRORobjective_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: 1793899700.88279533 seconds ×3 + 13.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.676ms + 13.63sINFOstate_estimatorReceived a set_pose request (stamp: 1793899700900236347, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.78sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.78sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950893 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950893 ms (missed cycles : 2).[0m ×2 + 13.98sWARNlocal_costmap.local_costmapSensor origin at (-0.63, 3.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.98sWARNlocal_costmap.local_costmapSensor origin at (-1.53, 3.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.13sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.19sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793899701.48190236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.936ms + 14.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568539, y=-0.017181, yaw=-0.0184015 + 14.59sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.975ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912442 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912442 ms (missed cycles : 2).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868189 ms (missed cycles : 4). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868189 ms (missed cycles : 4).[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249756 ms (missed cycles : 4). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249756 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	49 warnings · 148 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.537ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 2.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793899595.36844134 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sINFOstate_estimatorReceived a set_pose request (stamp: 1793899595391958363, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.65) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.56sWARNlocal_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. ×3 + 2.56sWARNlocal_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. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.191ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793899595.97304893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.890ms + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 3.60sINFOobjective_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 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088756 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088756 ms (missed cycles : 2).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179462 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179462 ms (missed cycles : 3).[0m ×2 + 8.66sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793899601.77321029 seconds ×3 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814059 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814059 ms (missed cycles : 2).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630403 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630403 ms (missed cycles : 2).[0m ×2 + 10.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.21sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.26sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793899603.36578560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.67sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917406 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917406 ms (missed cycles : 3).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810216 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810216 ms (missed cycles : 3).[0m ×2 + 12.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864445 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864445 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	50 warnings · 148 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.430ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543761 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543761 ms (missed cycles : 5).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.861ms + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.894ms + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.929ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465723 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465723 ms (missed cycles : 2).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.583ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227896 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227896 ms (missed cycles : 2).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.93sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.96sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793899773.60210299 seconds ×3 + 2.96sINFOcontroller_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 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_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 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOstate_estimatorReceived a set_pose request (stamp: 1793899773618702636, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.27) is out of map bounds (-3.25, 0.80) to (1.73, 5.78). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.91) is out of map bounds (-3.25, 0.80) to (1.73, 5.78). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.270ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877488 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877488 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.556ms + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.54sINFOamclInitializing particles from estimated pose and covariance + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569019, y=-0.0171798, yaw=-0.0184 + 3.55sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793899774.19390917 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 + 3.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.363ms + 4.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014830 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014830 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045201 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045201 ms (missed cycles : 4).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 9.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 10.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.00sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 12.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	39 warnings · 165 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737424 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737424 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188512 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491918 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491918 ms (missed cycles : 4).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.55sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793899531.75511146 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sINFOstate_estimatorReceived a set_pose request (stamp: 1793899531773965802, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296624 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296624 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793899532.34146714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNobjective_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 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.628ms + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.22sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 29.053ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446948 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446948 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.6226e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357453 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357453 ms (missed cycles : 3).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.443ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.233ms + 6.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.804ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.693ms + 6.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.839ms + 7.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.153ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599044 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599044 ms (missed cycles : 3).[0m ×2 + 7.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.600ms + 7.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.305ms + 8.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.520ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353685 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353685 ms (missed cycles : 3).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.106ms + 8.76sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793899537.92163849 seconds ×3 + 8.79sINFOstate_estimatorReceived a set_pose request (stamp: 1793899537939071778, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.216ms + 9.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.30sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.36sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793899538.51825762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.440ms + 9.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568623, y=-0.0171805, yaw=-0.0184 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905220 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905220 ms (missed cycles : 3).[0m ×2 + 9.77sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 9.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.242ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706070 ms (missed cycles : 5). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706070 ms (missed cycles : 5).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215597 ms (missed cycles : 4). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215597 ms (missed cycles : 4).[0m ×2 + 11.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.8s	24 warnings · 127 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744583 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744583 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.528ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.056ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373084 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373084 ms (missed cycles : 4).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.629ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253464 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253464 ms (missed cycles : 3).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793899853.98704123 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 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_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 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1793899854008751332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.355ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131777 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131777 ms (missed cycles : 2).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 1988 particles 811 points - 5.505ms + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793899854.61744022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585597 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585597 ms (missed cycles : 5).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793899855.74770212 seconds ×3 + 4.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.89sINFOamclInitializing particles from estimated pose and covariance + 4.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570136, y=-0.017177, yaw=-0.0183973 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.804ms + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793899856.33157945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612011 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612011 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793899857.51174378 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267660 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267660 ms (missed cycles : 2).[0m ×2 + 6.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145826 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145826 ms (missed cycles : 2).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.8s	6 errors · 21 warnings · 702 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.54sINFOobjective_server_nodeobjective_name: "" ×8 + 0.54sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.54sINFOobjective_server_node ×50 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.54sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.54sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.54sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.54sINFOobjective_server_node</Control> ×16 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.54sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.54sINFOobjective_server_nodecaller: ×22 + 0.54sINFOobjective_server_nodetype: 0 ×22 + 0.54sINFOobjective_server_nodename: "" ×22 + 0.54sINFOobjective_server_nodeinstance_id: "" ×22 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 0.67sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 1.46sINFOobjective_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: "" + 1.46sINFOobjective_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 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[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 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.36sINFOmove_groupClearing octomap...[0m ×4 + 2.36sINFOmove_groupOctomap cleared.[0m ×4 + 2.37sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.37sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 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: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOvacuum_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: 1793899485.26713443 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_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 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 7.59sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	Close Gripper	close_gripper.xml	0.6s	6 errors · 21 warnings · 817 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.00sINFOobjective_server_nodeobjective_name: "" ×12 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.00sINFOobjective_server_node ×68 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.00sINFOobjective_server_node</Control> ×24 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.00sINFOobjective_server_nodecaller: ×26 + 0.00sINFOobjective_server_nodetype: 0 ×26 + 0.00sINFOobjective_server_nodename: "" ×26 + 0.00sINFOobjective_server_nodeinstance_id: "" ×26 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899481.96153331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.06176591 seconds ×3 + 0.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.21sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.16540504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.23560286 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.87sINFOobjective_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: "" + 0.87sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 1.01sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.07sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_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=\"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 + 1.83sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 2.02sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.69sINFOmove_groupClearing octomap...[0m ×4 + 2.69sINFOmove_groupOctomap cleared.[0m ×4 + 2.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_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 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.81sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 341 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 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: 1793899485.20694709 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: 1793899485.26713443 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 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 + 0.12sINFOros2_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 + 0.75sINFOobjective_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 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.98sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_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 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737424 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737424 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188512 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491918 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491918 ms (missed cycles : 4).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793899531.75511146 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOstate_estimatorReceived a set_pose request (stamp: 1793899531773965802, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296624 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296624 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793899532.34146714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNobjective_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 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.628ms + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.22sINFOamclInitializing particles from estimated pose and covariance + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 29.053ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446948 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446948 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.6226e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOjoint_trajectory_controllerReceived new action goal + 4.40sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357453 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357453 ms (missed cycles : 3).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.443ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.233ms + 6.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.804ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737424 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737424 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188512 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491918 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491918 ms (missed cycles : 4).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793899531.75511146 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOstate_estimatorReceived a set_pose request (stamp: 1793899531773965802, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296624 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296624 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793899532.34146714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNobjective_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 + 3.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.628ms + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.22sINFOamclInitializing particles from estimated pose and covariance + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 29.053ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446948 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446948 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.6226e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOjoint_trajectory_controllerReceived new action goal + 4.40sINFOjoint_trajectory_controllerAccepted new action goal + 4.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357453 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357453 ms (missed cycles : 3).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.443ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.233ms + 6.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.804ms + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 87 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.233ms + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.804ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.472593 ms (missed cycles : 4).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.693ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.839ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.153ms + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599044 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599044 ms (missed cycles : 3).[0m ×2 + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.600ms + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.305ms + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.520ms + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353685 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353685 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.106ms + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793899537.92163849 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOstate_estimatorReceived a set_pose request (stamp: 1793899537939071778, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.216ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793899538.51825762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.440ms + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.54sINFOamclInitializing particles from estimated pose and covariance + 3.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568623, y=-0.0171805, yaw=-0.0184 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905220 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905220 ms (missed cycles : 3).[0m ×2 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.242ms + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706070 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706070 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215597 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.215597 ms (missed cycles : 4).[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
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	28 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.537ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793899595.36844134 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOstate_estimatorReceived a set_pose request (stamp: 1793899595391958363, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.65) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.56sWARNlocal_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. ×3 + 2.56sWARNlocal_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. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.191ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793899595.97304893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.890ms + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	28 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.537ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793899595.36844134 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOstate_estimatorReceived a set_pose request (stamp: 1793899595391958363, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.65) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.56sWARNlocal_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. ×3 + 2.56sWARNlocal_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. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.191ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793899595.97304893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.890ms + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	28 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.537ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793899595.36844134 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOstate_estimatorReceived a set_pose request (stamp: 1793899595391958363, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.65) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.56sWARNlocal_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. ×3 + 2.56sWARNlocal_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. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.191ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793899595.97304893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.890ms + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	28 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.537ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793899595.36844134 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOstate_estimatorReceived a set_pose request (stamp: 1793899595391958363, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.65) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.56sWARNlocal_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. ×3 + 2.56sWARNlocal_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. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.191ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793899595.97304893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.890ms + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	28 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.537ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793899595.36844134 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOstate_estimatorReceived a set_pose request (stamp: 1793899595391958363, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.65) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.56sWARNlocal_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. ×3 + 2.56sWARNlocal_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. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.191ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793899595.97304893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.890ms + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	28 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.537ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793899595.36844134 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOstate_estimatorReceived a set_pose request (stamp: 1793899595391958363, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.65) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.56sWARNlocal_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. ×3 + 2.56sWARNlocal_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. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.191ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793899595.97304893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.890ms + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	28 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486437 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359827 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.537ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877775 ms (missed cycles : 3).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.350ms + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793899595.36844134 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOstate_estimatorReceived a set_pose request (stamp: 1793899595391958363, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.65) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.36sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-4.80, 6.30) to (0.18, 11.28). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.67) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.60) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.56sWARNlocal_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. ×3 + 2.56sWARNlocal_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. ×3 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.191ms + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.79sINFOamclInitializing particles from estimated pose and covariance + 2.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 2.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793899595.97304893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626504 ms (missed cycles : 3).[0m ×2 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.890ms + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.61sINFOjoint_trajectory_controllerReceived new action goal + 3.61sINFOjoint_trajectory_controllerAccepted new action goal + 3.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180728 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228864 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 - 8.607ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.316ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.503ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793899634.37909341 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOstate_estimatorReceived a set_pose request (stamp: 1793899634401100095, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.637ms + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793899634.97537756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4).[0m ×2 + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.20sINFOamclInitializing particles from estimated pose and covariance + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.902ms + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4).[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 - 8.607ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.316ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.503ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793899634.37909341 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOstate_estimatorReceived a set_pose request (stamp: 1793899634401100095, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.637ms + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793899634.97537756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4).[0m ×2 + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.20sINFOamclInitializing particles from estimated pose and covariance + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.902ms + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4).[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 - 8.607ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.316ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.503ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793899634.37909341 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOstate_estimatorReceived a set_pose request (stamp: 1793899634401100095, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.637ms + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793899634.97537756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4).[0m ×2 + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.20sINFOamclInitializing particles from estimated pose and covariance + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.902ms + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4).[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 - 8.607ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869551 ms (missed cycles : 2).[0m ×2 + 0.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.316ms + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.503ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092650 ms (missed cycles : 4).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059666 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793899634.37909341 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOstate_estimatorReceived a set_pose request (stamp: 1793899634401100095, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.50, 3.75) to (0.48, 8.73). The costmap cannot raytrace for it. + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.637ms + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793899634.97537756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612537 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093062 ms (missed cycles : 4).[0m ×2 + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.20sINFOamclInitializing particles from estimated pose and covariance + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.902ms + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808669 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429396 ms (missed cycles : 4).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	3 errors · 18 warnings · 562 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.55sINFOobjective_server_nodeobjective_name: "" ×4 + 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\" /> ×2 + 0.55sINFOobjective_server_node ×32 + 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\" /> ×2 + 0.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 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\" /> ×4 + 0.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 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> ×2 + 0.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.55sINFOobjective_server_node</Control> ×8 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.56sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.56sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.56sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.56sINFOobjective_server_nodecaller: ×18 + 0.56sINFOobjective_server_nodetype: 0 ×18 + 0.56sINFOobjective_server_nodename: "" ×18 + 0.56sINFOobjective_server_nodeinstance_id: "" ×18 + 0.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 0.74sINFOobjective_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 + 0.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 1.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.46sINFOmove_groupClearing octomap...[0m ×4 + 1.46sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939854 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831495 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821182 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793899780.09408212 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818407 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793899780.70222306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777110 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276625 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386050 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	21 warnings · 127 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744583 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744583 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.528ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.056ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373084 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373084 ms (missed cycles : 4).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.629ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253464 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253464 ms (missed cycles : 3).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793899853.98704123 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 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_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 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1793899854008751332, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.355ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131777 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131777 ms (missed cycles : 2).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 1988 particles 811 points - 5.505ms + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793899854.61744022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.38sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.38sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585597 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585597 ms (missed cycles : 5).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793899855.74770212 seconds ×3 + 4.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.89sINFOamclInitializing particles from estimated pose and covariance + 4.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570136, y=-0.017177, yaw=-0.0183973 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.804ms + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793899856.33157945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612011 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612011 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793899857.51174378 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267660 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267660 ms (missed cycles : 2).[0m ×2 + 6.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 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	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 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 · 24 warnings · 453 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 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: "" + 0.15sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.15sINFOobjective_server_nodeobjective_name: "" ×2 + 0.15sINFOobjective_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 + 0.15sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.15sINFOobjective_server_nodecaller: ×16 + 0.15sINFOobjective_server_nodetype: 0 ×16 + 0.15sINFOobjective_server_nodename: "" ×16 + 0.15sINFOobjective_server_nodeinstance_id: "" ×16 + 0.15sINFOobjective_server_node ×16 + 0.18sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.25sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 0.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 0.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.81sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.86sINFOmove_groupClearing octomap...[0m ×4 + 0.86sINFOmove_groupOctomap cleared.[0m ×4 + 0.87sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.87sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[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 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 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 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 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: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_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: 1793899488.17598677 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 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 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.39sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	3 errors · 21 warnings · 568 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.55sINFOobjective_server_nodeobjective_name: "" ×4 + 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\" /> ×2 + 0.55sINFOobjective_server_node ×32 + 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\" /> ×2 + 0.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 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\" /> ×4 + 0.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 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> ×2 + 0.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.55sINFOobjective_server_node</Control> ×8 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.56sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.56sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.56sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.56sINFOobjective_server_nodecaller: ×18 + 0.56sINFOobjective_server_nodetype: 0 ×18 + 0.56sINFOobjective_server_nodename: "" ×18 + 0.56sINFOobjective_server_nodeinstance_id: "" ×18 + 0.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 0.74sINFOobjective_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 + 0.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 1.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.41sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.46sINFOmove_groupClearing octomap...[0m ×4 + 1.46sINFOmove_groupOctomap cleared.[0m ×4 + 1.47sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.47sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.02sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.99sINFOjoint_trajectory_controllerReceived new action goal + 6.99sINFOjoint_trajectory_controllerAccepted new action goal + 6.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[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 + 0.00sINFOros2_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 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.53sINFOobjective_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: "" + 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.53sINFOobjective_server_nodeobjective_name: "" ×12 + 0.53sINFOobjective_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 + 0.53sINFOobjective_server_node ×66 + 0.53sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.53sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.53sINFOobjective_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 + 0.53sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.53sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.53sINFOobjective_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 + 0.53sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.53sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.53sINFOobjective_server_node</Control> ×24 + 0.53sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.53sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.53sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.53sINFOobjective_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 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.54sINFOobjective_server_nodecaller: ×24 + 0.54sINFOobjective_server_nodetype: 0 ×24 + 0.54sINFOobjective_server_nodename: "" ×24 + 0.54sINFOobjective_server_nodeinstance_id: "" ×24 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899481.96153331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.06176591 seconds ×3 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.74sINFOobjective_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 + 0.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.16540504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.23560286 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.41sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.45sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 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 + 1.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 2.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.22sINFOmove_groupClearing octomap...[0m ×4 + 3.23sINFOmove_groupOctomap cleared.[0m ×4 + 3.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 5.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 6.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOobjective_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 + 6.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[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 + 0.00sINFOros2_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 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.53sINFOobjective_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: "" + 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.53sINFOobjective_server_nodeobjective_name: "" ×12 + 0.53sINFOobjective_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 + 0.53sINFOobjective_server_node ×64 + 0.53sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.53sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.53sINFOobjective_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 + 0.53sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.53sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.53sINFOobjective_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 + 0.53sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.53sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.53sINFOobjective_server_node</Control> ×24 + 0.53sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.53sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.53sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.53sINFOobjective_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 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.54sINFOobjective_server_nodecaller: ×22 + 0.54sINFOobjective_server_nodetype: 0 ×22 + 0.54sINFOobjective_server_nodename: "" ×22 + 0.54sINFOobjective_server_nodeinstance_id: "" ×22 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899481.96153331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962075 ms (missed cycles : 2).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.06176591 seconds ×3 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.74sINFOobjective_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 + 0.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.16540504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899482.23560286 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.41sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.45sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 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 + 1.60sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 2.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 2.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.22sINFOmove_groupClearing octomap...[0m ×2 + 3.23sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 5.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 18 warnings · 699 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.54sINFOobjective_server_nodeobjective_name: "" ×8 + 0.54sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.54sINFOobjective_server_node ×50 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.54sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.54sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.54sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.54sINFOobjective_server_node</Control> ×16 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.54sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.54sINFOobjective_server_nodecaller: ×22 + 0.54sINFOobjective_server_nodetype: 0 ×22 + 0.54sINFOobjective_server_nodename: "" ×22 + 0.54sINFOobjective_server_nodeinstance_id: "" ×22 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 0.67sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 1.46sINFOobjective_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: "" + 1.46sINFOobjective_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 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[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 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.36sINFOmove_groupClearing octomap...[0m ×4 + 2.36sINFOmove_groupOctomap cleared.[0m ×4 + 2.37sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.37sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 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: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOvacuum_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: 1793899485.26713443 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_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 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 18 warnings · 699 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.54sINFOobjective_server_nodeobjective_name: "" ×8 + 0.54sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.54sINFOobjective_server_node ×50 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.54sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.54sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.54sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.54sINFOobjective_server_node</Control> ×16 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.54sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.54sINFOobjective_server_nodecaller: ×22 + 0.54sINFOobjective_server_nodetype: 0 ×22 + 0.54sINFOobjective_server_nodename: "" ×22 + 0.54sINFOobjective_server_nodeinstance_id: "" ×22 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 0.67sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 1.46sINFOobjective_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: "" + 1.46sINFOobjective_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 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[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 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.36sINFOmove_groupClearing octomap...[0m ×4 + 2.36sINFOmove_groupOctomap cleared.[0m ×4 + 2.37sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.37sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 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: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOvacuum_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: 1793899485.26713443 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_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 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 18 warnings · 699 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.54sINFOobjective_server_nodeobjective_name: "" ×8 + 0.54sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.54sINFOobjective_server_node ×50 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.54sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.54sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.54sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.54sINFOobjective_server_node</Control> ×16 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.54sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.54sINFOobjective_server_nodecaller: ×22 + 0.54sINFOobjective_server_nodetype: 0 ×22 + 0.54sINFOobjective_server_nodename: "" ×22 + 0.54sINFOobjective_server_nodeinstance_id: "" ×22 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.83130670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899482.92148304 seconds ×3 + 0.67sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899482.98101807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699471 ms (missed cycles : 3).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899483.15120339 seconds ×3 + 1.46sINFOobjective_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: "" + 1.46sINFOobjective_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 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 seconds ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[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 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.36sINFOmove_groupClearing octomap...[0m ×4 + 2.36sINFOmove_groupOctomap cleared.[0m ×4 + 2.37sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.37sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 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: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOvacuum_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: 1793899485.26713443 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_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 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_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: 1793899483.74970508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793899483.86986542 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: "" + 0.15sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.15sINFOobjective_server_nodeobjective_name: "" ×2 + 0.15sINFOobjective_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 + 0.15sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.15sINFOobjective_server_nodecaller: ×16 + 0.15sINFOobjective_server_nodetype: 0 ×16 + 0.15sINFOobjective_server_nodename: "" ×16 + 0.15sINFOobjective_server_nodeinstance_id: "" ×16 + 0.15sINFOobjective_server_node ×16 + 0.18sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793899483.93187284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.25sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793899484.00204325 seconds ×3 + 0.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017329 ms (missed cycles : 4).[0m ×2 + 0.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.81sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.86sINFOmove_groupClearing octomap...[0m ×4 + 0.86sINFOmove_groupOctomap cleared.[0m ×4 + 0.87sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.87sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.42sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[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 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 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 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 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: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_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: 1793899488.17598677 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 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 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.39sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2

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

15 skip

− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 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 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 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	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 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793899484.60515141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793899484.62530732 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525507 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793899485.20694709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793899485.26713443 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793899485.98215914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793899486.04293847 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645864 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793899486.73854637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793899486.75870609 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093597 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793899487.34393740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793899487.49451709 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793899488.10582709 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793899488.17598677 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361932 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793899488.76574612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502807 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.58sINFOjoint_trajectory_controllerReceived new action goal + 5.58sINFOjoint_trajectory_controllerAccepted new action goal + 5.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976310 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896320 ms (missed cycles : 3).[0m ×2