MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

16.9s

Avg test time

100%

Objective pass rate

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5 pass

✓ passed	—	test_base_link_has_single_tf_parent	22.4s	6 errors · 321 warnings · 1797 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/2026-11-05-21-02-07-244658-4c37f255db44-8001 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.12sINFOstatic_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' + 4.13sINFOstatic_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' + 4.15sINFOstatic_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' + 4.24sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.34sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.35sINFOcontroller_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. + 4.36sINFOmap_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. + 4.36sINFOmap_serverCreating + 4.36sINFOros2_control_node-13process started with pid [8166] ×2 + 4.36sINFOmove_group-25process started with pid [8222] ×2 + 4.36sINFOparameter_manager_node-26process started with pid [8223] ×2 + 4.36sINFOwaypoint_manager_node-27process started with pid [8224] ×2 + 4.36sINFOmove_joint_resampler_node-28process started with pid [8225] ×2 + 4.36sINFOmove_end_effector_resampler_node-29process started with pid [8227] ×2 + 4.36sINFOobjective_server_node_main-30process started with pid [8228] ×2 + 4.36sINFOcomponent_container_mt-31process started with pid [8229] ×2 + 4.36sINFOcomponent_container_mt-32process started with pid [8230] ×2 + 4.36sINFOexecute_objective_bridge-33process started with pid [8231] ×2 + 4.38sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.39sINFOui_teleop_bridge-34process started with pid [8232] ×2 + 4.39sINFOweb_bridge-35process started with pid [8235] ×2 + 4.39sINFOtf_visualization_relay-36process started with pid [8236] ×2 + 4.39sINFOjoint_state_visualization_relay-37process started with pid [8237] ×2 + 4.39sINFOtf2_web_republisher_node-38process started with pid [8239] ×2 + 4.39sINFOvideo_server-39process started with pid [8240] ×2 + 4.39sINFOweb_bridge_auth_proxy-40process started with pid [8243] ×2 + 4.39sINFOweb_video_auth_proxy-41process started with pid [8244] ×2 + 4.39sINFOcomponent_container_isolated-1process started with pid [8051] ×2 + 4.39sINFOcomponent_container_isolated-2process started with pid [8052] ×2 + 4.39sINFOstatic_transform_publisher-3process started with pid [8053] ×2 + 4.39sINFOodom_world_drift-4process started with pid [8054] ×2 + 4.39sINFOlidar_flattener.py-5process started with pid [8055] ×2 + 4.39sINFOstatic_transform_publisher-6process started with pid [8056] ×2 + 4.39sINFOstatic_transform_publisher-7process started with pid [8057] ×2 + 4.39sINFOscan_to_scan_filter_chain-8process started with pid [8058] ×2 + 4.39sINFOscan_to_scan_filter_chain-9process started with pid [8059] ×2 + 4.39sINFOrelay-10process started with pid [8163] ×2 + 4.39sINFOrelay-11process started with pid [8164] ×2 + 4.39sINFOcontroller_managerupdate rate is 600 Hz + 4.39sINFOfixed_lag_smoother_node-12process started with pid [8165] ×2 + 4.39sINFOcontroller_managerOverruns handling is : enabled + 4.39sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.39sINFOros2-14process started with pid [8167] ×2 + 4.39sWARNcontroller_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. + 4.39sINFOros2-15process started with pid [8168] ×2 + 4.39sINFOros2-16process started with pid [8169] ×2 + 4.39sINFOros2-17process started with pid [8172] ×2 + 4.39sINFOros2-18process started with pid [8173] ×2 + 4.39sINFOros2-19process started with pid [8193] ×2 + 4.39sINFOros2-20process started with pid [8195] ×2 + 4.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.39sINFOros2-21process started with pid [8196] ×2 + 4.39sINFOros2-22process started with pid [8197] ×2 + 4.39sINFOros2-23process started with pid [8198] ×2 + 4.39sINFOros2-24process started with pid [8199] ×2 + 4.42sINFOcontroller_serverCreating controller server + 4.43sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.43sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.43sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.43sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.43sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.43sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.43sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.43sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.43sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.43sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.43sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.43sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.43sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.43sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.43sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.43sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.43sWARNros2_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 + 4.43sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.44sINFOstate_estimatorReceived a set_pose request (stamp: 1793912533351196949, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.45sINFOlocal_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. + 4.46sINFOlocal_costmap.local_costmapCreating Costmap + 4.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.48sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035933 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035933 ms (missed cycles : 2).[0m ×2 + 4.52sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.53sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.54sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.54sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.57sINFOsmoother_serverCreating smoother server + 4.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.58sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×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> + 4.60sINFOplanner_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. + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.63sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.63sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.63sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.66sINFOlifecycle_manager_localizationCreating + 4.66sINFOplanner_serverCreating + 4.68sINFOrobot_state_publisherRobot initialized + 4.68sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.68sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.68sINFOcontroller_managerReceived robot description from topic. + 4.68sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.68sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.68sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.68sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.68sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.69sINFOmap_serverConfiguring + 4.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.71sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.71sINFOglobal_costmap.global_costmapCreating Costmap + 4.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.75sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.75sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.76sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.78sINFObehavior_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. + 4.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.81sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.82sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.82sINFOamclConfiguring + 4.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.84sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.84sINFOmap_serverActivating + 4.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.85sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.89sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.89sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.89sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.90sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.90sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.91sINFObt_navigatorCreating + 4.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.96sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.96sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.96sINFOamclActivating + 4.96sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.96sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.97sINFOvideo_server2026/11/05 21:02:13 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.97sINFOvideo_server2026/11/05 21:02:13 INF configuration loaded from /tmp/moveit-webrtc-tt3bgeay/mediamtx.yml ×2 + 4.97sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.97sINFOvideo_server2026/11/05 21:02:13 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.97sINFOvideo_server2026/11/05 21:02:13 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.97sINFOwaypoint_followerCreating + 4.97sINFOamclSubscribed to map_topic: /map + 4.98sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.98sINFOamclCreated reinitialize_global_localization service + 4.98sINFOamclCreated request_nomotion_update service + 4.98sINFOamclA new map was received + 4.98sINFOamclInitializing particle filter instance + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.06sINFOvelocity_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. + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.11sINFOlifecycle_manager_navigationCreating + 5.12sINFOweb_video_auth_proxy2026-11-05 21:02:14,035 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 5.13sWARNlaser_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. + 5.13sINFOweb_video_auth_proxy2026-11-05 21:02:14,040 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 5.13sWARNlaser_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. + 5.13sWARNscan_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 + 5.15sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.17sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.17sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.17sINFOcontroller_serverConfiguring controller interface + 5.17sINFOcontroller_servergetting progress checker plugins.. + 5.18sINFOcontroller_servergetting goal checker plugins.. + 5.18sINFOcontroller_serverController frequency set to 20.0000Hz + 5.18sINFOlocal_costmap.local_costmapConfiguring + 5.19sINFOweb_bridge_auth_proxy2026-11-05 21:02:14,092 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 5.20sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.23sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.30sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.30sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.30sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.35sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.35sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.36sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.36sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.37sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.39sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.40sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.40sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.41sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.42sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.42sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.42sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.42sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.42sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.42sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.43sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.43sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.43sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.43sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.43sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.43sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.43sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.44sINFOcontroller_serverOptimizer reset ×2 + 5.45sINFOcontroller_serverController Server has FollowPath controllers available. + 5.48sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.48sINFOsmoother_serverConfiguring smoother server + 5.51sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.51sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.52sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.52sINFOplanner_serverConfiguring + 5.52sINFOglobal_costmap.global_costmapConfiguring + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677945 ms (missed cycles : 2). + 5.55sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677945 ms (missed cycles : 2).[0m ×2 + 5.55sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.419657 seconds + 5.55sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.55sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.55sINFOmove_groupLoaded robot model in 0.419657 seconds[0m ×2 + 5.55sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.55sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.55sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.56sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.56sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.56sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.59sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.59sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.59sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.65sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.65sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.65sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.66sINFOplanner_serverPlanner Server has GridBased planners available. + 5.69sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.69sINFObehavior_serverConfiguring + 5.69sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.70sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.70sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.72sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.72sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.72sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.74sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.75sINFObehavior_serverConfiguring spin + 5.77sINFObehavior_serverConfiguring backup + 5.79sINFObehavior_serverConfiguring drive_on_heading + 5.80sINFObehavior_serverConfiguring assisted_teleop + 5.82sINFObehavior_serverConfiguring wait + 5.83sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.83sINFObt_navigatorConfiguring + 5.84sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.84sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 5.86sINFOamclParticle filter initialization completed + 5.86sINFOamclInitializing particles from estimated pose and covariance + 5.87sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.96sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.96sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.96sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.98sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.01sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.14sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.14sINFOwaypoint_followerConfiguring + 6.18sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.18sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.18sINFOvelocity_smootherConfiguring velocity smoother + 6.19sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.19sINFOcontroller_serverActivating + 6.19sINFOlocal_costmap.local_costmapActivating + 6.19sINFOlocal_costmap.local_costmapChecking transform + 6.19sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×7 + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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 + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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 + 6.33sWARNmove_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. + 6.33sWARNmove_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. + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.33sWARNmove_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 + 6.44sINFOwaypoint_manager_nodeLoaded robot model in 0.420777 seconds[0m ×2 + 6.44sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.44sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.50sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.50sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.50sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.50sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.53sINFOros2_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 + 6.53sINFOros2_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 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597517 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597517 ms (missed cycles : 2).[0m ×2 + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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. + 6.89sWARNwaypoint_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 + 6.89sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.90sWARNwaypoint_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. + 6.90sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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 + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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. + 6.91sWARNwaypoint_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 + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.92sWARNwaypoint_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 + 6.92sWARNwaypoint_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. + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_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 + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_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 + 6.93sWARNwaypoint_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 + 6.93sWARNwaypoint_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 + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_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 + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_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 + 6.93sWARNwaypoint_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. + 6.93sWARNwaypoint_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. + 6.94sWARNwaypoint_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 + 6.94sWARNwaypoint_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 + 6.94sWARNwaypoint_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. + 6.94sWARNwaypoint_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 + 6.94sWARNwaypoint_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. + 6.94sWARNwaypoint_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 + 7.28sINFOwaypoint_manager_node[2026-11-05 21:02:16.195] [moveit_pro_license] [info] ×2 + 7.28sINFOwaypoint_manager_node************************************************* ×4 + 7.28sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.28sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.30sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.30sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.30sINFOros2_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 + 7.31sWARNros2_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 + 7.31sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.31sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.31sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.31sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.31sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.31sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.31sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.31sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.31sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.31sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.31sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.31sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.31sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.31sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.31sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.31sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.31sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.31sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.31sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.31sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.31sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.31sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.31sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.31sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.31sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.31sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.36sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.36sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.45sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.45sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 7.45sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.58sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.58sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.61sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.61sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.62sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 7.62sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 7.62sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 7.62sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 7.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 7.62sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 7.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 7.62sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 7.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 7.62sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 7.62sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 7.62sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 7.63sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.63sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.63sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.63sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 7.63sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 7.63sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.63sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 7.63sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 7.63sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.65sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.65sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.66sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.66sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.66sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.68sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 7.68sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 7.69sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 7.69sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.71sINFOros2_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 + 7.71sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.71sWARNros2_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 + 7.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.72sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.83sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.83sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.85sINFOstreaming_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) + 7.85sINFOcomponent_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 + 7.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.85sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 7.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 7.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.88sWARNcomponent_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 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733193 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733193 ms (missed cycles : 2).[0m ×2 + 7.96sINFOobjective_server_node[2026-11-05 21:02:16.869] [moveit_pro_license] [info] ×2 + 7.96sINFOobjective_server_node************************************************* ×4 + 7.96sINFOobjective_server_node* MoveIt Pro License ×2 + 7.96sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.03sINFOobjective_server_nodeLoaded robot model in 0.0354675 seconds[0m ×2 + 8.04sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.04sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.07sINFOros2_control_node[2026-11-05 21:02:16.977] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.07sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.07sINFOros2_control_node[2026-11-05 21:02:16.980] [info] Controller state will be published at 10 Hz. ×2 + 8.07sINFOros2_control_node[2026-11-05 21:02:16.981] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.21sINFOcomponent_container_mtLoaded robot model in 0.336245 seconds[0m ×2 + 8.21sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.21sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 8.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 8.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.48sINFOros2-22process has finished cleanly [pid 8197] ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.54sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.61sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.61sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.63sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.63sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.69sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.69sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.70sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.70sWARNcomponent_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 + 8.70sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.70sWARNcomponent_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 + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.70sWARNcomponent_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 + 8.70sWARNplanning_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. + 8.71sWARNcomponent_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 + 8.71sWARNplanning_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. + 8.71sWARNcomponent_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 + 8.71sWARNplanning_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. + 8.71sWARNplanning_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. + 8.71sWARNcomponent_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 + 8.71sWARNcomponent_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 + 8.85sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.85sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.88sINFOros2_control_node[2026-11-05 21:02:17.794] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.88sINFOros2_control_node[2026-11-05 21:02:17.795] [info] Controller state will be published at 10 Hz. ×2 + 8.89sINFOros2_control_node[2026-11-05 21:02:17.797] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200920 ms (missed cycles : 2). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200920 ms (missed cycles : 2).[0m ×2 + 9.13sWARNros2_control_nodeCamera render tick took 0.68 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 + 9.13sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.13sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.14sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.14sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.20sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.20sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.20sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.20sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.20sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 9.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 9.22sINFOros2-21process has finished cleanly [pid 8196] ×2 + 9.25sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.25sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.25sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.25sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.25sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.25sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.25sINFOcontroller_managerSuccessfully switched controllers! ×19 + 9.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 9.26sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.26sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 9.28sINFOcomponent_container_mt[2026-11-05 21:02:18.189] [moveit_pro_license] [info] ×2 + 9.28sINFOcomponent_container_mt************************************************* ×4 + 9.28sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.28sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.57sINFOros2-15process has finished cleanly [pid 8168] ×2 + 9.58sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.58sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.58sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.58sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.59sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 9.59sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 9.62sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.63sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.64sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.65sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.65sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.65sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.65sINFOplatform_velocity_controller_nav2configure successful + 9.65sINFOros2_control_nodeconfigure successful[0m ×6 + 9.69sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×7 + 9.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329758 ms (missed cycles : 5). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329758 ms (missed cycles : 5).[0m ×2 + 9.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 10.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 10.01sINFOros2-19process has finished cleanly [pid 8193] ×2 + 10.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.04sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.04sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.04sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.04sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.04sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.06sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.06sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.13sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793912537.368 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.37sINFOros2-18process has finished cleanly [pid 8173] ×2 + 10.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.38sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 10.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 10.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.49sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.49sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.85sINFOros2_control_node[2026-11-05 21:02:19.764] [info] Controller state will be published at 20 Hz. ×2 + 10.86sINFOros2_control_node[2026-11-05 21:02:19.766] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856569 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856569 ms (missed cycles : 2).[0m ×2 + 11.19sINFOros2-23process has finished cleanly [pid 8198] ×2 + 11.20sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.20sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.20sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.20sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 11.20sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 11.24sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 11.24sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 11.24sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.24sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.60sINFOros2_control_node[2026-11-05 21:02:20.505] [info] Controller state will be published at 20 Hz. ×2 + 11.60sINFOros2_control_node[2026-11-05 21:02:20.507] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.92sINFOros2-24process has finished cleanly [pid 8199] ×2 + 11.95sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.95sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.95sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 11.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143463 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143463 ms (missed cycles : 2).[0m ×2 + 12.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 12.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 12.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.05sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.05sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.35sINFOmove_group[2026-11-05 21:02:21.265] [moveit_pro_license] [info] ×2 + 12.35sINFOmove_group************************************************* ×4 + 12.35sINFOmove_group* MoveIt Pro License ×2 + 12.35sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 12.36sINFOros2-20process has finished cleanly [pid 8195] ×2 + 12.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.36sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 12.36sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 12.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 12.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.43sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.44sINFOforce_torque_sensor_broadcasterconfigure successful + 12.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.45sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 12.45sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.70sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 12.70sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 12.70sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 12.70sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 12.70sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 12.70sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 12.70sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 12.70sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 12.70sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 12.71sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 12.71sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 12.71sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 12.71sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 12.71sINFOmove_groupStarting planning scene monitor[0m ×2 + 12.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 12.71sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 12.71sINFOmove_groupListening to '/planning_scene'[0m ×2 + 12.71sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 12.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 12.71sINFOmove_groupListening to 'collision_object'[0m ×2 + 12.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 12.72sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 12.78sINFOros2-14process has finished cleanly [pid 8167] ×2 + 12.78sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793912540.412 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 12.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 12.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.84sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294943 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294943 ms (missed cycles : 2).[0m ×2 + 13.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.16sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.16sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f + 13.16sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fth6gq40 --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_idixq2qg --params-file /tmp/launch_params_8mwy0j3f [0m ×2 + 13.19sINFOros2-16process has finished cleanly [pid 8169] ×2 + 13.19sINFOlocal_costmap.local_costmapstart + 13.22sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.22sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.23sINFOplatform_velocity_controllerconfigure successful + 13.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.24sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 13.24sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.30sWARNcontroller_serverParameter controller_server.verbose not found + 13.30sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.35sINFOamclParticle filter update iteration stats: 1724 particles 811 points - 23.406ms + 13.41sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.41sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.41sINFOsmoother_serverActivating + 13.41sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.52sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.52sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.52sINFOplanner_serverActivating + 13.52sINFOglobal_costmap.global_costmapActivating + 13.52sINFOglobal_costmap.global_costmapChecking transform + 13.52sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1793912542.386726, but only time 1793912542.907069 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.56sINFOros2-17process has finished cleanly [pid 8172] ×2 + 14.02sINFOglobal_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 1793912542.895024 but the earliest data is at time 1793912542.907069, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967209 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967209 ms (missed cycles : 4).[0m ×2 + 14.44sINFOmove_groupMoveGroup debug mode is ON + 14.44sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 14.45sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 14.49sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 14.49sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 14.49sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 14.49sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 14.49sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 14.50sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 14.50sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 14.52sINFOglobal_costmap.global_costmapstart + 14.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 14.60sINFOmove_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 ****************************************************** + 14.60sINFOmove_group ×8 + 14.60sINFOmove_group****************************************************** ×4 + 14.60sINFOmove_group* MoveGroup using: ×2 + 14.60sINFOmove_group* - apply_planning_scene_service ×2 + 14.60sINFOmove_group* - clear_octomap_service ×2 + 14.60sINFOmove_group* - get_group_urdf ×2 + 14.60sINFOmove_group* - load_geometry_from_file ×2 + 14.60sINFOmove_group* - get_planning_scene_service ×2 + 14.60sINFOmove_group* - kinematics_service ×2 + 14.60sINFOmove_group* - save_geometry_to_file ×2 + 14.60sINFOmove_group* - GetPlanningGroups ×2 + 14.60sINFOmove_group* - URDFPlanningSceneCapability ×2 + 14.60sINFOmove_group[0m ×2 + 14.60sINFOmove_group[92mYou can start planning now![0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324906 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324906 ms (missed cycles : 2).[0m ×2 + 15.57sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.57sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.67sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.67sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.67sINFObehavior_serverActivating + 15.67sINFObehavior_serverActivating spin + 15.67sINFObehavior_serverActivating backup + 15.67sINFObehavior_serverActivating drive_on_heading + 15.67sINFObehavior_serverActivating assisted_teleop + 15.67sINFObehavior_serverActivating wait + 15.67sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.78sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.78sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.78sINFObt_navigatorActivating + 15.84sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.95sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.95sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.95sINFOwaypoint_followerActivating + 15.95sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.96sWARNobjective_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 + 16.02sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.06sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.06sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.06sINFOvelocity_smootherActivating + 16.06sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557587 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557587 ms (missed cycles : 2).[0m ×2 + 16.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 16.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 16.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.16sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.16sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.16sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414765 ms (missed cycles : 3). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414765 ms (missed cycles : 3).[0m ×2 + 17.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646377 ms (missed cycles : 4). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646377 ms (missed cycles : 4).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399195 ms (missed cycles : 3). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399195 ms (missed cycles : 3).[0m ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2).[0m ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3).[0m ×2 + 21.79sINFOobjective_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: "" + 21.79sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 21.79sINFOobjective_server_nodeobjective_name: "" ×12 + 21.79sINFOobjective_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 + 21.79sINFOobjective_server_node ×56 + 21.79sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 21.79sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 21.79sINFOobjective_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 + 21.79sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 21.79sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 21.79sINFOobjective_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 + 21.79sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 21.79sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 21.79sINFOobjective_server_node</Control> ×24 + 21.79sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 21.79sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 21.79sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 21.79sINFOobjective_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 + 21.79sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 21.79sINFOobjective_server_nodeparameter_overrides: [] ×14 + 21.79sINFOobjective_server_nodecaller: ×14 + 21.79sINFOobjective_server_nodetype: 0 ×14 + 21.79sINFOobjective_server_nodename: "" ×14 + 21.79sINFOobjective_server_nodeinstance_id: "" ×14 + 21.83sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.73942327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.91sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.81963682 seconds ×3 + 21.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 21.97sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 22.01sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 22.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 22.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 22.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 22.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.89sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 23.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.45sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 23.49sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 23.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.71sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 24.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 24.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 24.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 24.30sINFOmove_groupClearing octomap...[0m ×2 + 24.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 24.31sINFOmove_groupOctomap cleared.[0m ×2 + 24.32sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 24.32sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 24.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2
✓ passed	—	placed	0.8s	6 errors · 21 warnings · 641 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399195 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_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=\"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: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 2.55sINFOobjective_server_nodeobjective_name: "" ×12 + 2.55sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.55sINFOobjective_server_node ×60 + 2.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.55sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 2.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.55sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.55sINFOobjective_server_node</Control> ×24 + 2.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.56sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.56sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.56sINFOobjective_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=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.56sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×18 + 2.56sINFOobjective_server_nodecaller: ×18 + 2.56sINFOobjective_server_nodetype: 0 ×18 + 2.56sINFOobjective_server_nodename: "" ×18 + 2.56sINFOobjective_server_nodeinstance_id: "" ×18 + 2.59sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.73942327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.81963682 seconds ×3 + 2.73sINFOobjective_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 + 2.73sINFOobjective_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 + 2.77sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.39sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 3.43sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 3.52sINFOobjective_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 + 3.59sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.03sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.07sINFOmove_groupClearing octomap...[0m ×2 + 5.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.07sINFOmove_groupOctomap cleared.[0m ×2 + 5.08sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.08sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.38sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3
✓ passed	—	release_fails	0.8s	6 errors · 24 warnings · 763 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2).[0m ×2 + 0.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_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: "" + 1.51sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.51sINFOobjective_server_nodeobjective_name: "" ×12 + 1.51sINFOobjective_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 + 1.51sINFOobjective_server_node ×66 + 1.51sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.51sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.51sINFOobjective_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 + 1.51sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.51sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.51sINFOobjective_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 + 1.51sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.51sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.52sINFOobjective_server_node</Control> ×24 + 1.52sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.52sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.52sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.52sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.52sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.52sINFOobjective_server_nodecaller: ×24 + 1.52sINFOobjective_server_nodetype: 0 ×24 + 1.52sINFOobjective_server_nodename: "" ×24 + 1.52sINFOobjective_server_nodeinstance_id: "" ×24 + 1.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.73942327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.81963682 seconds ×3 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 1.69sINFOobjective_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>" ×6 + 1.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 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=\"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: "" + 2.35sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 2.39sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 2.48sINFOobjective_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 + 2.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.17sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 3.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 7.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✓ passed	—	hover_fails	0.8s	6 errors · 24 warnings · 691 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399195 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399195 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2).[0m ×2 + 1.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_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=\"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: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.55sINFOobjective_server_nodeobjective_name: "" ×12 + 2.55sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.55sINFOobjective_server_node ×62 + 2.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.55sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 2.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.55sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.55sINFOobjective_server_node</Control> ×24 + 2.56sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.56sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.56sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.56sINFOobjective_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=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.56sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.56sINFOobjective_server_nodecaller: ×20 + 2.56sINFOobjective_server_nodetype: 0 ×20 + 2.56sINFOobjective_server_nodename: "" ×20 + 2.56sINFOobjective_server_nodeinstance_id: "" ×20 + 2.59sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.73942327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.81963682 seconds ×3 + 2.73sINFOobjective_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 + 2.73sINFOobjective_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 + 2.77sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.39sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 3.43sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 3.52sINFOobjective_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 + 3.59sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.03sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 5.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.07sINFOmove_groupClearing octomap...[0m ×2 + 5.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.07sINFOmove_groupOctomap cleared.[0m ×2 + 5.08sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.08sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 6.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.38sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 7.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 7.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	6 errors · 21 warnings · 588 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646377 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646377 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399195 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399195 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694971 ms (missed cycles : 2).[0m ×2 + 2.54sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.54sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.62sINFOobjective_server_nodeobjective_name: "" ×12 + 3.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 3.62sINFOobjective_server_node ×58 + 3.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.62sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 3.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.62sINFOobjective_server_node</Control> ×24 + 3.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 3.62sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.62sINFOobjective_server_nodecaller: ×16 + 3.62sINFOobjective_server_nodetype: 0 ×16 + 3.62sINFOobjective_server_nodename: "" ×16 + 3.62sINFOobjective_server_nodeinstance_id: "" ×16 + 3.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.73942327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.81963682 seconds ×3 + 3.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 3.80sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_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=\"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: "" + 4.46sINFOobjective_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=\"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 + 4.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 4.59sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_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: "" + 5.28sINFOobjective_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 + 5.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 5.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 6.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 6.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.14sINFOmove_groupClearing octomap...[0m ×2 + 6.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.14sINFOmove_groupOctomap cleared.[0m ×2 + 6.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 6.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.73sINFOvacuum_gripperReceived & accepted new action goal + 6.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 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	71.9s	3 errors · 232 warnings · 295 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.005ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671416 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671416 ms (missed cycles : 3).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.331ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283534 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283534 ms (missed cycles : 2).[0m ×2 + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.075ms + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.774ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904851 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904851 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793912768.08555555 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_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 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1793912768099882465, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.099ms + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 3.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 3.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 4642 particles 811 points - 7.777ms + 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: 1793912768.68334818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 31.698ms + 3.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.52sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111793 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111793 ms (missed cycles : 3).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.408ms + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459509 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459509 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473171 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473171 ms (missed cycles : 3).[0m ×2 + 5.90sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.90sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.90sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.90sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860870 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860870 ms (missed cycles : 3).[0m ×2 + 7.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.028ms + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871530 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871530 ms (missed cycles : 2).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.135ms + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984505 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984505 ms (missed cycles : 2).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.155ms + 9.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689283 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689283 ms (missed cycles : 2).[0m ×2 + 10.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.710ms + 11.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.802ms + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009862 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009862 ms (missed cycles : 3).[0m ×2 + 11.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.925ms + 12.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442011 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442011 ms (missed cycles : 3).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.189ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.327ms + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026486 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026486 ms (missed cycles : 2).[0m ×2 + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.401ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544736 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544736 ms (missed cycles : 2).[0m ×2 + 14.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.512ms + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.971ms + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571764 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571764 ms (missed cycles : 3).[0m ×2 + 15.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.170ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.442ms + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094447 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094447 ms (missed cycles : 2).[0m ×2 + 16.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.389ms + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.065ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407213 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407213 ms (missed cycles : 3).[0m ×2 + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.703ms + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719290 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719290 ms (missed cycles : 2).[0m ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.042ms + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.915ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952414 ms (missed cycles : 4). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952414 ms (missed cycles : 4).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.035ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.042ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167903 ms (missed cycles : 3). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167903 ms (missed cycles : 3).[0m ×2 + 20.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.862ms + 21.08sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.093ms + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591126 ms (missed cycles : 3). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591126 ms (missed cycles : 3).[0m ×2 + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.122ms + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.588ms + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891105 ms (missed cycles : 4). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891105 ms (missed cycles : 4).[0m ×2 + 23.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.306ms + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664176 ms (missed cycles : 3). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664176 ms (missed cycles : 3).[0m ×2 + 23.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.758ms + 24.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.816ms ×2 + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946053 ms (missed cycles : 5). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946053 ms (missed cycles : 5).[0m ×2 + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.310ms + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.095ms + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346505 ms (missed cycles : 3). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346505 ms (missed cycles : 3).[0m ×2 + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.211ms + 26.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.242ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648334 ms (missed cycles : 3). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648334 ms (missed cycles : 3).[0m ×2 + 27.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.704ms + 28.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.910ms + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390025 ms (missed cycles : 3). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390025 ms (missed cycles : 3).[0m ×2 + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.726ms + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742122 ms (missed cycles : 5). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742122 ms (missed cycles : 5).[0m ×2 + 29.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.830ms + 29.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.461ms + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924523 ms (missed cycles : 2). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924523 ms (missed cycles : 2).[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.912ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462185 ms (missed cycles : 3). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462185 ms (missed cycles : 3).[0m ×2 + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.755ms + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103660 ms (missed cycles : 3). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103660 ms (missed cycles : 3).[0m ×2 + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.390ms + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.128ms + 33.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050469 ms (missed cycles : 4). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050469 ms (missed cycles : 4).[0m ×2 + 34.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.079ms + 34.28sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.28sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601905 ms (missed cycles : 3). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601905 ms (missed cycles : 3).[0m ×2 + 35.06sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225072 ms (missed cycles : 5). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225072 ms (missed cycles : 5).[0m ×2 + 35.86sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893382 ms (missed cycles : 3). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893382 ms (missed cycles : 3).[0m ×2 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990935 ms (missed cycles : 3). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990935 ms (missed cycles : 3).[0m ×2 + 38.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.696ms + 38.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.914ms + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004617 ms (missed cycles : 2). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004617 ms (missed cycles : 2).[0m ×2 + 39.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.700ms + 39.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964273 ms (missed cycles : 3). + 39.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964273 ms (missed cycles : 3).[0m ×2 + 39.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.872ms + 40.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769418 ms (missed cycles : 2). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769418 ms (missed cycles : 2).[0m ×2 + 41.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.147ms + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301064 ms (missed cycles : 2). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301064 ms (missed cycles : 2).[0m ×2 + 41.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.497ms + 42.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589879 ms (missed cycles : 3). + 42.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589879 ms (missed cycles : 3).[0m ×2 + 43.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304689 ms (missed cycles : 2). + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304689 ms (missed cycles : 2).[0m ×2 + 44.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.459ms + 44.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.558ms + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464895 ms (missed cycles : 3). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464895 ms (missed cycles : 3).[0m ×2 + 45.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.987ms + 45.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.434ms + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.889887 ms (missed cycles : 5). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.889887 ms (missed cycles : 5).[0m ×2 + 46.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.396ms + 46.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.365ms + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306995 ms (missed cycles : 2). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306995 ms (missed cycles : 2).[0m ×2 + 47.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.772ms + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937685 ms (missed cycles : 2). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937685 ms (missed cycles : 2).[0m ×2 + 48.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.262ms + 49.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.746ms + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256899 ms (missed cycles : 3).[0m ×2 + 49.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.837ms + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014965 ms (missed cycles : 3). + 50.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014965 ms (missed cycles : 3).[0m ×2 + 50.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.389ms + 51.23sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 51.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813352 ms (missed cycles : 3). + 51.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813352 ms (missed cycles : 3).[0m ×2 + 52.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687830 ms (missed cycles : 2). + 52.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687830 ms (missed cycles : 2).[0m ×2 + 53.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.220ms + 53.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883661 ms (missed cycles : 2). + 53.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883661 ms (missed cycles : 2).[0m ×2 + 54.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421002 ms (missed cycles : 3). + 54.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421002 ms (missed cycles : 3).[0m ×2 + 54.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.526ms + 55.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.173ms + 55.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540468 ms (missed cycles : 2). + 55.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540468 ms (missed cycles : 2).[0m ×2 + 56.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.613ms + 56.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722420 ms (missed cycles : 4). + 56.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722420 ms (missed cycles : 4).[0m ×2 + 57.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.306ms + 57.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.578ms + 57.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775841 ms (missed cycles : 3). + 57.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775841 ms (missed cycles : 3).[0m ×2 + 58.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.436ms + 58.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141186 ms (missed cycles : 3). + 58.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141186 ms (missed cycles : 3).[0m ×2 + 59.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.806ms + 59.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.182ms + 59.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927169 ms (missed cycles : 3). + 59.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927169 ms (missed cycles : 3).[0m ×2 + 60.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.014ms + 60.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.440ms + 60.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842066 ms (missed cycles : 3). + 60.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842066 ms (missed cycles : 3).[0m ×2 + 61.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.303ms + 61.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508120 ms (missed cycles : 3). + 61.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508120 ms (missed cycles : 3).[0m ×2 + 62.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.965ms + 63.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689823 ms (missed cycles : 3). + 63.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689823 ms (missed cycles : 3).[0m ×2 + 63.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.986ms + 63.98sINFOobjective_server_nodePlanning for 29 path waypoints. ×3 + 64.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545966 ms (missed cycles : 2). + 64.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545966 ms (missed cycles : 2).[0m ×2 + 65.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422800 ms (missed cycles : 3). + 65.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422800 ms (missed cycles : 3).[0m ×2 + 66.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226922 ms (missed cycles : 4). + 66.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226922 ms (missed cycles : 4).[0m ×2 + 67.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626653 ms (missed cycles : 5). + 67.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626653 ms (missed cycles : 5).[0m ×2 + 67.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.698ms + 68.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.278ms + 68.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698946 ms (missed cycles : 3). + 68.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698946 ms (missed cycles : 3).[0m ×2 + 68.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.667ms + 69.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582575 ms (missed cycles : 2). + 69.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582575 ms (missed cycles : 2).[0m ×2 + 69.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.272ms + 70.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.097ms + 70.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.388ms + 70.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842200 ms (missed cycles : 3). + 70.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842200 ms (missed cycles : 3).[0m ×2 + 71.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.179ms + 71.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558622 ms (missed cycles : 5). + 71.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558622 ms (missed cycles : 5).[0m ×2 + 71.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.408ms + 72.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.462ms + 72.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053379 ms (missed cycles : 2). + 72.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053379 ms (missed cycles : 2).[0m ×2 + 72.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.615ms + 73.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 73.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013810 ms (missed cycles : 2). + 73.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013810 ms (missed cycles : 2).[0m ×2 + 74.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.153ms + 74.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883895 ms (missed cycles : 4). + 74.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883895 ms (missed cycles : 4).[0m ×2 + 74.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793912840.02354693 seconds ×3 + 74.86sINFOstate_estimatorReceived a set_pose request (stamp: 1793912840039652576, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 74.91sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.26) is out of map bounds (-3.90, 4.35) to (1.08, 9.33). The costmap cannot raytrace for it. + 74.91sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.90) is out of map bounds (-3.90, 4.35) to (1.08, 9.33). The costmap cannot raytrace for it. + 75.01sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 75.01sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 75.25sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.656ms + 75.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 75.37sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 75.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793912840.61038494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 75.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014891 ms (missed cycles : 2). + 75.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014891 ms (missed cycles : 2).[0m ×2 + 76.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339042 ms (missed cycles : 4). + 76.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339042 ms (missed cycles : 4).[0m ×2 + 76.98sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 76.98sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 76.98sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548946, y=-0.0157119, yaw=-0.0118647 + 77.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.026ms + 77.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440358 ms (missed cycles : 2). + 77.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440358 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.2s	189 warnings · 221 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.28sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.29sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.29sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869717 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869717 ms (missed cycles : 2).[0m ×2 + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.963ms ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943486 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943486 ms (missed cycles : 3).[0m ×2 + 8.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.205ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276021 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276021 ms (missed cycles : 2).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.115ms + 9.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.269ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015337 ms (missed cycles : 4). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015337 ms (missed cycles : 4).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.132ms + 10.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.579ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098604 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098604 ms (missed cycles : 2).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.724ms + 11.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.170ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767732 ms (missed cycles : 4). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767732 ms (missed cycles : 4).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.021ms + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.898ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289631 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289631 ms (missed cycles : 2).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.281ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762826 ms (missed cycles : 4). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762826 ms (missed cycles : 4).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.134ms + 14.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.238ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754764 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754764 ms (missed cycles : 3).[0m ×2 + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.104ms + 15.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.328ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818174 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818174 ms (missed cycles : 3).[0m ×2 + 16.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.234ms + 16.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.735ms + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856803 ms (missed cycles : 3). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856803 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.117ms + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.973ms + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231277 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231277 ms (missed cycles : 2).[0m ×2 + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.111ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371326 ms (missed cycles : 4). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371326 ms (missed cycles : 4).[0m ×2 + 19.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.278ms + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.097ms + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842354 ms (missed cycles : 3). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842354 ms (missed cycles : 3).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.165ms + 20.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.647ms + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378657 ms (missed cycles : 2). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378657 ms (missed cycles : 2).[0m ×2 + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.062ms + 21.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.716ms + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276493 ms (missed cycles : 2). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276493 ms (missed cycles : 2).[0m ×2 + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.161ms + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.017ms + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886030 ms (missed cycles : 3). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886030 ms (missed cycles : 3).[0m ×2 + 23.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.143ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245975 ms (missed cycles : 4). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245975 ms (missed cycles : 4).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.055ms + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.350ms + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708958 ms (missed cycles : 4). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708958 ms (missed cycles : 4).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.266ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.923ms + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782315 ms (missed cycles : 2). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782315 ms (missed cycles : 2).[0m ×2 + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.597ms + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.993ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323364 ms (missed cycles : 2). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323364 ms (missed cycles : 2).[0m ×2 + 27.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.325ms + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746247 ms (missed cycles : 3). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746247 ms (missed cycles : 3).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.863ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.243ms ×2 + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165199 ms (missed cycles : 2). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165199 ms (missed cycles : 2).[0m ×2 + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.460ms + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.403ms + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788013 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788013 ms (missed cycles : 2).[0m ×2 + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.098ms + 31.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.241ms + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086005 ms (missed cycles : 3). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086005 ms (missed cycles : 3).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.957ms + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926603 ms (missed cycles : 3). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926603 ms (missed cycles : 3).[0m ×2 + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.155ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.594076 ms (missed cycles : 5). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.594076 ms (missed cycles : 5).[0m ×2 + 33.70sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 33.74sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816883 ms (missed cycles : 2). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816883 ms (missed cycles : 2).[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131473 ms (missed cycles : 2). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131473 ms (missed cycles : 2).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230343 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230343 ms (missed cycles : 3).[0m ×2 + 37.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.960ms + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060720 ms (missed cycles : 2). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060720 ms (missed cycles : 2).[0m ×2 + 38.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.810ms + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495120 ms (missed cycles : 2). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495120 ms (missed cycles : 2).[0m ×2 + 40.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925191 ms (missed cycles : 3). + 40.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925191 ms (missed cycles : 3).[0m ×2 + 40.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.699ms + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288948 ms (missed cycles : 3). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288948 ms (missed cycles : 3).[0m ×2 + 41.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.348ms + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326600 ms (missed cycles : 2). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326600 ms (missed cycles : 2).[0m ×2 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581239 ms (missed cycles : 3). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581239 ms (missed cycles : 3).[0m ×2 + 43.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.717ms + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107954 ms (missed cycles : 5). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107954 ms (missed cycles : 5).[0m ×2 + 44.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.349ms + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659919 ms (missed cycles : 5). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659919 ms (missed cycles : 5).[0m ×2 + 46.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884661 ms (missed cycles : 2). + 46.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884661 ms (missed cycles : 2).[0m ×2 + 47.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.108ms + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011455 ms (missed cycles : 2). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011455 ms (missed cycles : 2).[0m ×2 + 47.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.440ms + 48.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255908 ms (missed cycles : 2). + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255908 ms (missed cycles : 2).[0m ×2 + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696455 ms (missed cycles : 2). + 49.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696455 ms (missed cycles : 2).[0m ×2 + 50.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.091ms + 50.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370050 ms (missed cycles : 6). + 50.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370050 ms (missed cycles : 6).[0m ×2 + 51.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324012 ms (missed cycles : 3). + 51.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324012 ms (missed cycles : 3).[0m ×2 + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874469 ms (missed cycles : 3). + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874469 ms (missed cycles : 3).[0m ×2 + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855921 ms (missed cycles : 5). + 54.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855921 ms (missed cycles : 5).[0m ×2 + 55.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032541 ms (missed cycles : 2). + 55.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032541 ms (missed cycles : 2).[0m ×2 + 56.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632295 ms (missed cycles : 5). + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632295 ms (missed cycles : 5).[0m ×2 + 57.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209089 ms (missed cycles : 2). + 57.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209089 ms (missed cycles : 2).[0m ×2 + 58.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222933 ms (missed cycles : 3). + 58.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222933 ms (missed cycles : 3).[0m ×2 + 58.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.362ms + 59.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217205 ms (missed cycles : 5). + 59.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217205 ms (missed cycles : 5).[0m ×2 + 59.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793912903.72888350 seconds ×3 + 59.61sINFOstate_estimatorReceived a set_pose request (stamp: 1793912903751374806, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.65sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-4.00, 3.25) to (0.98, 8.23). The costmap cannot raytrace for it. + 59.65sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.59) is out of map bounds (-4.00, 3.25) to (0.98, 8.23). The costmap cannot raytrace for it. + 59.75sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.75sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.59) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.85sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.85sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.92sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.417ms + 60.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.12sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793912904.33129001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688597 ms (missed cycles : 3). + 60.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688597 ms (missed cycles : 3).[0m ×2 + 60.54sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 60.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477418 ms (missed cycles : 4). + 61.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477418 ms (missed cycles : 4).[0m ×2 + 61.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 61.74sINFOamclInitializing particles from estimated pose and covariance + 61.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 61.74sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547565, y=-0.0165482, yaw=-0.0170711 + 61.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.087ms + 62.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713109 ms (missed cycles : 4). + 62.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713109 ms (missed cycles : 4).[0m ×2 + 63.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796028 ms (missed cycles : 3). + 63.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796028 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	191 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.824ms + 0.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.601ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319293 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319293 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.189ms + 1.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.846ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.204ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.618ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418248 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418248 ms (missed cycles : 3).[0m ×2 + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.670ms + 2.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.091ms + 2.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793912606.49065757 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOstate_estimatorReceived a set_pose request (stamp: 1793912606508093089, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.688ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819477 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819477 ms (missed cycles : 2).[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 1619 particles 811 points - 5.429ms + 3.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.35sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.05699, y=-0.0171776, yaw=-0.0183977 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793912607.09175134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.318ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342720 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342720 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456249 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456249 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.85sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.85sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047610 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047610 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064213 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064213 ms (missed cycles : 2).[0m ×2 + 7.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.245ms + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452289 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452289 ms (missed cycles : 3).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.641ms + 9.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.247ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451462 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451462 ms (missed cycles : 3).[0m ×2 + 9.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.081ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301062 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301062 ms (missed cycles : 2).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.036ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.225ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951704 ms (missed cycles : 4). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951704 ms (missed cycles : 4).[0m ×2 + 11.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.157ms + 12.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.427ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464294 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464294 ms (missed cycles : 2).[0m ×2 + 12.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.268ms + 13.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.000ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299575 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299575 ms (missed cycles : 2).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.169ms + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.339ms + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126534 ms (missed cycles : 3). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126534 ms (missed cycles : 3).[0m ×2 + 15.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.462ms + 15.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.120ms + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820175 ms (missed cycles : 3). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820175 ms (missed cycles : 3).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.087ms + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606963 ms (missed cycles : 2). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606963 ms (missed cycles : 2).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.261ms + 17.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.060ms + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836274 ms (missed cycles : 2). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836274 ms (missed cycles : 2).[0m ×2 + 18.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.650ms + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.129ms + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644930 ms (missed cycles : 3). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644930 ms (missed cycles : 3).[0m ×2 + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.908ms + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.928ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471477 ms (missed cycles : 4). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471477 ms (missed cycles : 4).[0m ×2 + 20.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.950ms + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775499 ms (missed cycles : 3). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775499 ms (missed cycles : 3).[0m ×2 + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.589ms + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.440ms + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880120 ms (missed cycles : 2). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880120 ms (missed cycles : 2).[0m ×2 + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.308ms + 22.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.582ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059140 ms (missed cycles : 3). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059140 ms (missed cycles : 3).[0m ×2 + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.231ms + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.952ms + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052073 ms (missed cycles : 3). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052073 ms (missed cycles : 3).[0m ×2 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.568ms + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.880ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653395 ms (missed cycles : 4). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653395 ms (missed cycles : 4).[0m ×2 + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.403ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703590 ms (missed cycles : 3). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703590 ms (missed cycles : 3).[0m ×2 + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.779ms + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.806ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169338 ms (missed cycles : 4). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169338 ms (missed cycles : 4).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.051ms + 28.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.065ms + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086088 ms (missed cycles : 3). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086088 ms (missed cycles : 3).[0m ×2 + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.943ms + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.024ms + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850062 ms (missed cycles : 2). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850062 ms (missed cycles : 2).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.014ms + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.506ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347095 ms (missed cycles : 3). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347095 ms (missed cycles : 3).[0m ×2 + 30.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.156ms + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180818 ms (missed cycles : 5). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180818 ms (missed cycles : 5).[0m ×2 + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.844ms + 32.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.107ms + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328158 ms (missed cycles : 3). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328158 ms (missed cycles : 3).[0m ×2 + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.261ms + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783467 ms (missed cycles : 3). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783467 ms (missed cycles : 3).[0m ×2 + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.632ms + 34.26sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.27sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181805 ms (missed cycles : 4). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181805 ms (missed cycles : 4).[0m ×2 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450541 ms (missed cycles : 3). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450541 ms (missed cycles : 3).[0m ×2 + 36.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.660ms + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993645 ms (missed cycles : 3). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993645 ms (missed cycles : 3).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435889 ms (missed cycles : 3). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435889 ms (missed cycles : 3).[0m ×2 + 38.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.906ms + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869684 ms (missed cycles : 2). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869684 ms (missed cycles : 2).[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315866 ms (missed cycles : 3). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315866 ms (missed cycles : 3).[0m ×2 + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188265 ms (missed cycles : 2). + 40.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188265 ms (missed cycles : 2).[0m ×2 + 41.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.625ms + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861301 ms (missed cycles : 3). + 42.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861301 ms (missed cycles : 3).[0m ×2 + 42.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.070ms + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733894 ms (missed cycles : 5). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733894 ms (missed cycles : 5).[0m ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150981 ms (missed cycles : 3). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150981 ms (missed cycles : 3).[0m ×2 + 44.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.070ms + 44.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.383ms + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692810 ms (missed cycles : 3). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692810 ms (missed cycles : 3).[0m ×2 + 46.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615927 ms (missed cycles : 3). + 46.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615927 ms (missed cycles : 3).[0m ×2 + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343393 ms (missed cycles : 4). + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343393 ms (missed cycles : 4).[0m ×2 + 47.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.751ms + 48.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.004ms + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756045 ms (missed cycles : 3). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756045 ms (missed cycles : 3).[0m ×2 + 49.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031452 ms (missed cycles : 3). + 49.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031452 ms (missed cycles : 3).[0m ×2 + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701714 ms (missed cycles : 4). + 50.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701714 ms (missed cycles : 4).[0m ×2 + 51.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.775ms + 51.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596541 ms (missed cycles : 3). + 51.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596541 ms (missed cycles : 3).[0m ×2 + 52.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.206ms + 52.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535924 ms (missed cycles : 4). + 52.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535924 ms (missed cycles : 4).[0m ×2 + 53.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173435 ms (missed cycles : 2). + 53.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173435 ms (missed cycles : 2).[0m ×2 + 54.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.364ms + 54.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918665 ms (missed cycles : 3). + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918665 ms (missed cycles : 3).[0m ×2 + 55.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.473ms + 55.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274804 ms (missed cycles : 3). + 55.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274804 ms (missed cycles : 3).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891345 ms (missed cycles : 3). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891345 ms (missed cycles : 3).[0m ×2 + 58.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 59.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 59.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3). + 59.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3).[0m ×2 + 60.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793912663.68192744 seconds ×3 + 60.15sINFOstate_estimatorReceived a set_pose request (stamp: 1793912663707222966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.23sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.63) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 60.23sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 60.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2). + 60.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2).[0m ×2 + 60.33sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.33sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.55sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.471ms + 60.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 60.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.71sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793912664.28366852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.223ms + 61.10sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 61.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3). + 61.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3).[0m ×2 + 61.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3). + 62.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3).[0m ×2 + 63.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3). + 63.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.7s	192 warnings · 242 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.891ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.72sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793912702.39544463 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1793912702411672271, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.96sWARNlocal_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. + 2.96sWARNlocal_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. + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.090ms + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 8.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 8.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793912702.99365950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 38.830ms + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.36sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.748ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.71sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.71sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459085 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459085 ms (missed cycles : 2).[0m ×2 + 7.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.805ms + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723729 ms (missed cycles : 2). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723729 ms (missed cycles : 2).[0m ×2 + 8.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.483ms + 9.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.216ms + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588515 ms (missed cycles : 3). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588515 ms (missed cycles : 3).[0m ×2 + 9.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.981ms + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389902 ms (missed cycles : 4). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389902 ms (missed cycles : 4).[0m ×2 + 10.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.172ms + 10.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.276ms + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715181 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715181 ms (missed cycles : 2).[0m ×2 + 11.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.150ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.698ms + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279429 ms (missed cycles : 4). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279429 ms (missed cycles : 4).[0m ×2 + 12.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.733ms + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.771ms + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214403 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214403 ms (missed cycles : 2).[0m ×2 + 13.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.269ms + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.292ms + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086993 ms (missed cycles : 5). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086993 ms (missed cycles : 5).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.716ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403794 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403794 ms (missed cycles : 3).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.425ms + 16.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.824ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727921 ms (missed cycles : 4). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727921 ms (missed cycles : 4).[0m ×2 + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.428ms + 17.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.923ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259581 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259581 ms (missed cycles : 2).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.550ms + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.934ms + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605803 ms (missed cycles : 3). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605803 ms (missed cycles : 3).[0m ×2 + 18.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.665ms + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.026ms + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907421 ms (missed cycles : 3). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907421 ms (missed cycles : 3).[0m ×2 + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.027ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.954ms + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946352 ms (missed cycles : 2). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946352 ms (missed cycles : 2).[0m ×2 + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.193ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239924 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239924 ms (missed cycles : 2).[0m ×2 + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.700ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.058ms + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256106 ms (missed cycles : 3). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256106 ms (missed cycles : 3).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.243ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.383ms + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095349 ms (missed cycles : 4). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095349 ms (missed cycles : 4).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.316ms + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750039 ms (missed cycles : 3). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750039 ms (missed cycles : 3).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.948ms + 25.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.135ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716188 ms (missed cycles : 2). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716188 ms (missed cycles : 2).[0m ×2 + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.102ms + 26.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.593ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001872 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001872 ms (missed cycles : 2).[0m ×2 + 27.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.066ms + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.020ms + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021918 ms (missed cycles : 5). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021918 ms (missed cycles : 5).[0m ×2 + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.736ms + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172477 ms (missed cycles : 3). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172477 ms (missed cycles : 3).[0m ×2 + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.000ms + 29.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.844ms + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334209 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334209 ms (missed cycles : 2).[0m ×2 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.423ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.545ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006889 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006889 ms (missed cycles : 2).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.236ms + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.039ms + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321749 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321749 ms (missed cycles : 2).[0m ×2 + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.307ms + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409676 ms (missed cycles : 3). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409676 ms (missed cycles : 3).[0m ×2 + 33.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.914ms + 34.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087268 ms (missed cycles : 2). + 34.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087268 ms (missed cycles : 2).[0m ×2 + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518338 ms (missed cycles : 2). + 35.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518338 ms (missed cycles : 2).[0m ×2 + 36.37sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002456 ms (missed cycles : 2). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002456 ms (missed cycles : 2).[0m ×2 + 37.07sINFOobjective_server_nodePlanning for 48 path waypoints. ×3 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831703 ms (missed cycles : 4). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831703 ms (missed cycles : 4).[0m ×2 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539161 ms (missed cycles : 4). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539161 ms (missed cycles : 4).[0m ×2 + 38.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.325ms + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898450 ms (missed cycles : 3). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898450 ms (missed cycles : 3).[0m ×2 + 39.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.812ms + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.002ms + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351362 ms (missed cycles : 4). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351362 ms (missed cycles : 4).[0m ×2 + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.268ms + 41.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.003ms + 41.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997887 ms (missed cycles : 2). + 41.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997887 ms (missed cycles : 2).[0m ×2 + 42.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.112ms + 42.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530787 ms (missed cycles : 3). + 42.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530787 ms (missed cycles : 3).[0m ×2 + 43.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731807 ms (missed cycles : 5). + 43.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731807 ms (missed cycles : 5).[0m ×2 + 44.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951328 ms (missed cycles : 3). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951328 ms (missed cycles : 3).[0m ×2 + 45.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.709ms + 45.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.013ms + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530458 ms (missed cycles : 4). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530458 ms (missed cycles : 4).[0m ×2 + 46.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.890ms + 47.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405426 ms (missed cycles : 3). + 47.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405426 ms (missed cycles : 3).[0m ×2 + 47.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.395ms + 47.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.106ms + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734959 ms (missed cycles : 5). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734959 ms (missed cycles : 5).[0m ×2 + 48.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.694ms + 48.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.345ms + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362203 ms (missed cycles : 3). + 49.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362203 ms (missed cycles : 3).[0m ×2 + 49.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.730ms + 50.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.670ms + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291457 ms (missed cycles : 3). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291457 ms (missed cycles : 3).[0m ×2 + 50.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.991ms + 51.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788863 ms (missed cycles : 4). + 51.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788863 ms (missed cycles : 4).[0m ×2 + 51.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.011ms + 52.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.132ms + 52.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733738 ms (missed cycles : 4). + 52.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733738 ms (missed cycles : 4).[0m ×2 + 53.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722453 ms (missed cycles : 4). + 53.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722453 ms (missed cycles : 4).[0m ×2 + 53.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.059ms + 54.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.489ms + 54.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394049 ms (missed cycles : 3). + 54.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394049 ms (missed cycles : 3).[0m ×2 + 55.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.759ms + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646329 ms (missed cycles : 3). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646329 ms (missed cycles : 3).[0m ×2 + 56.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447992 ms (missed cycles : 4). + 56.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447992 ms (missed cycles : 4).[0m ×2 + 57.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.231ms + 57.41sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793912757.05384803 seconds ×3 + 57.44sINFOstate_estimatorReceived a set_pose request (stamp: 1793912757073068013, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 57.46sWARNlocal_costmap.local_costmapSensor origin at (-1.98, 11.02) is out of map bounds (-3.85, 3.95) to (1.13, 8.93). The costmap cannot raytrace for it. + 57.46sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.62) is out of map bounds (-3.85, 3.95) to (1.13, 8.93). The costmap cannot raytrace for it. + 57.56sWARNlocal_costmap.local_costmapSensor origin at (-1.98, 11.00) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 57.56sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.60) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 57.66sWARNlocal_costmap.local_costmapSensor origin at (-1.98, 11.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 57.66sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 57.79sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.247ms + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001442 ms (missed cycles : 2). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001442 ms (missed cycles : 2).[0m ×2 + 57.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 57.95sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.02sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793912757.66264939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.40sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 58.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618313 ms (missed cycles : 4). + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618313 ms (missed cycles : 4).[0m ×2 + 59.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 59.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.841ms + 59.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401543 ms (missed cycles : 4). + 59.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401543 ms (missed cycles : 4).[0m ×2 + 60.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395300 ms (missed cycles : 2). + 60.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395300 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	144 warnings · 426 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 0.10sINFOcontroller_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 + 0.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.75sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_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 + 2.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572904 ms (missed cycles : 3). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572904 ms (missed cycles : 3).[0m ×2 + 7.34sINFOamclParticle filter update iteration stats: 1172 particles 811 points - 7.547ms + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615778 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615778 ms (missed cycles : 3).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147650 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147650 ms (missed cycles : 2).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383425 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383425 ms (missed cycles : 3).[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103362 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103362 ms (missed cycles : 2).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345275 ms (missed cycles : 3). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345275 ms (missed cycles : 3).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750976 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750976 ms (missed cycles : 2).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371022 ms (missed cycles : 4). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371022 ms (missed cycles : 4).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481072 ms (missed cycles : 3). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481072 ms (missed cycles : 3).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520023 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520023 ms (missed cycles : 3).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854063 ms (missed cycles : 3). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854063 ms (missed cycles : 3).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085760 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085760 ms (missed cycles : 2).[0m ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813983 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813983 ms (missed cycles : 2).[0m ×2 + 20.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.051ms + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896513 ms (missed cycles : 3). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896513 ms (missed cycles : 3).[0m ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079998 ms (missed cycles : 2). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079998 ms (missed cycles : 2).[0m ×2 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542419 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542419 ms (missed cycles : 2).[0m ×2 + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486240 ms (missed cycles : 3). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486240 ms (missed cycles : 3).[0m ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544897 ms (missed cycles : 3). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544897 ms (missed cycles : 3).[0m ×2 + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244021 ms (missed cycles : 2). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244021 ms (missed cycles : 2).[0m ×2 + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277688 ms (missed cycles : 2). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277688 ms (missed cycles : 2).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126107 ms (missed cycles : 2). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126107 ms (missed cycles : 2).[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891640 ms (missed cycles : 3). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891640 ms (missed cycles : 3).[0m ×2 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594006 ms (missed cycles : 4). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594006 ms (missed cycles : 4).[0m ×2 + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211955 ms (missed cycles : 3). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211955 ms (missed cycles : 3).[0m ×2 + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556454 ms (missed cycles : 4). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556454 ms (missed cycles : 4).[0m ×2 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699178 ms (missed cycles : 3). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699178 ms (missed cycles : 3).[0m ×2 + 34.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656827 ms (missed cycles : 2). + 34.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656827 ms (missed cycles : 2).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086705 ms (missed cycles : 2). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086705 ms (missed cycles : 2).[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155923 ms (missed cycles : 2). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155923 ms (missed cycles : 2).[0m ×2 + 37.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.600ms + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905211 ms (missed cycles : 3). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905211 ms (missed cycles : 3).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938640 ms (missed cycles : 3). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938640 ms (missed cycles : 3).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779352 ms (missed cycles : 2). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779352 ms (missed cycles : 2).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374583 ms (missed cycles : 4). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374583 ms (missed cycles : 4).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979189 ms (missed cycles : 2). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979189 ms (missed cycles : 2).[0m ×2 + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692612 ms (missed cycles : 2). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692612 ms (missed cycles : 2).[0m ×2 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433808 ms (missed cycles : 2). + 44.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433808 ms (missed cycles : 2).[0m ×2 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946252 ms (missed cycles : 3). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946252 ms (missed cycles : 3).[0m ×2 + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563997 ms (missed cycles : 2). + 46.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563997 ms (missed cycles : 2).[0m ×2 + 46.52sINFOjoint_trajectory_controllerGoal reached, success! + 46.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793912600.29769611 seconds ×3 + 46.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.56sINFOstate_estimatorReceived a set_pose request (stamp: 1793912600313897494, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.326ms + 47.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.06sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793912600.88049936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.13sWARNobjective_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 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440313 ms (missed cycles : 3). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440313 ms (missed cycles : 3).[0m ×2 + 48.27sINFOobjective_server_nodeFound path in 0 iterations (3.2385e-05 s). ×2 + 48.33sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160043 ms (missed cycles : 2). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160043 ms (missed cycles : 2).[0m ×2 + 48.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.0 deg) + 48.70sINFOamclInitializing particles from estimated pose and covariance + 48.70sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.0 deg)[0m ×2 + 48.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0476746, y=-0.0218286, yaw=-0.000423815 + 48.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.680ms + 49.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.556ms + 49.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms ×2 + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2).[0m ×2 + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 50.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.824ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.4s	118 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021381 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021381 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116477 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116477 ms (missed cycles : 4).[0m ×2 + 1.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.94sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793912670.01384616 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471981 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471981 ms (missed cycles : 3).[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239659 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239659 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793912671.60526228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171626 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171626 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155092 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155092 ms (missed cycles : 4).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.92sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.92sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900656 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900656 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841751 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841751 ms (missed cycles : 4).[0m ×2 + 8.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.244ms + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102308 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102308 ms (missed cycles : 3).[0m ×2 + 8.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.915ms + 9.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.307ms + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760461 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760461 ms (missed cycles : 3).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.287ms + 10.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.043ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397923 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397923 ms (missed cycles : 3).[0m ×2 + 10.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.870ms + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.274ms + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742044 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742044 ms (missed cycles : 2).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.145ms + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.374ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468689 ms (missed cycles : 4). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468689 ms (missed cycles : 4).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.467ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897447 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897447 ms (missed cycles : 2).[0m ×2 + 13.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.715ms + 14.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.077ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712185 ms (missed cycles : 4). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712185 ms (missed cycles : 4).[0m ×2 + 15.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.638ms + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268909 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268909 ms (missed cycles : 2).[0m ×2 + 16.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.971ms + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.046ms + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943852 ms (missed cycles : 3). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943852 ms (missed cycles : 3).[0m ×2 + 17.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.061ms + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712434 ms (missed cycles : 3). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712434 ms (missed cycles : 3).[0m ×2 + 18.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.838ms + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501304 ms (missed cycles : 2). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501304 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.260ms + 19.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.709ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107897 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107897 ms (missed cycles : 2).[0m ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.878ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.048ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792273 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792273 ms (missed cycles : 2).[0m ×2 + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.248ms + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.063ms + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797863 ms (missed cycles : 2). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797863 ms (missed cycles : 2).[0m ×2 + 22.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.216ms + 23.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.710ms + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316267 ms (missed cycles : 2). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316267 ms (missed cycles : 2).[0m ×2 + 23.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.410ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437696 ms (missed cycles : 3). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437696 ms (missed cycles : 3).[0m ×2 + 24.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.035ms + 25.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.703ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519337 ms (missed cycles : 3). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519337 ms (missed cycles : 3).[0m ×2 + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.382ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.389ms + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509871 ms (missed cycles : 3). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509871 ms (missed cycles : 3).[0m ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.168ms + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.477ms + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763614 ms (missed cycles : 3). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763614 ms (missed cycles : 3).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.868ms + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.471ms + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364759 ms (missed cycles : 3). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364759 ms (missed cycles : 3).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.854ms + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351588 ms (missed cycles : 3). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351588 ms (missed cycles : 3).[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.095ms + 30.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.760ms + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158450 ms (missed cycles : 2). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158450 ms (missed cycles : 2).[0m ×2 + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.357ms + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.891ms + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3).[0m ×2 + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2).[0m ×2 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3).[0m ×2 + 34.32sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793912702.39544463 seconds ×3 + 34.36sINFOstate_estimatorReceived a set_pose request (stamp: 1793912702411672271, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.43sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 34.43sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 34.53sWARNlocal_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. + 34.53sWARNlocal_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. + 34.61sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.090ms + 34.63sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 8.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.63sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 8.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.87sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.92sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793912702.99365950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.92sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 38.830ms + 34.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 34.93sINFOamclInitializing particles from estimated pose and covariance + 34.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 34.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3).[0m ×2 + 35.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.748ms + 35.30sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3).[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.0s	70 warnings · 259 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209089 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209089 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222933 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222933 ms (missed cycles : 3).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.362ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217205 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217205 ms (missed cycles : 5).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.39sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793912903.72888350 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1793912903751374806, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-4.00, 3.25) to (0.98, 8.23). The costmap cannot raytrace for it. + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.59) is out of map bounds (-4.00, 3.25) to (0.98, 8.23). The costmap cannot raytrace for it. + 2.57sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.57sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.59) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.67sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.67sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.74sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.417ms + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 3.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793912904.33129001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688597 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688597 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477418 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477418 ms (missed cycles : 4).[0m ×2 + 4.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg) + 4.56sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -1.0 deg)[0m ×2 + 4.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547565, y=-0.0165482, yaw=-0.0170711 + 4.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.087ms + 4.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713109 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713109 ms (missed cycles : 4).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796028 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796028 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707116 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707116 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093766 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093766 ms (missed cycles : 2).[0m ×2 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697410 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697410 ms (missed cycles : 2).[0m ×2 + 9.46sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.55sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 9.71sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.75sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 10.08sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661822 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661822 ms (missed cycles : 3).[0m ×2 + 10.46sINFOobjective_server_nodeFound path in 33 iterations (0.0301051 s). ×2 + 10.88sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501424 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501424 ms (missed cycles : 2).[0m ×2 + 11.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.60sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 12.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.42sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355580 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355580 ms (missed cycles : 3).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593469 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593469 ms (missed cycles : 4).[0m ×2 + 13.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.869ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442554 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442554 ms (missed cycles : 3).[0m ×2 + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.858ms + 15.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.111ms + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273536 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273536 ms (missed cycles : 3).[0m ×2 + 15.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.767ms + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794997 ms (missed cycles : 3). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794997 ms (missed cycles : 3).[0m ×2 + 17.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.174ms + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136839 ms (missed cycles : 4). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136839 ms (missed cycles : 4).[0m ×2 + 18.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793912919.75322032 seconds ×3 + 18.46sINFOstate_estimatorReceived a set_pose request (stamp: 1793912919768288070, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 18.79sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 5.198ms + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226953 ms (missed cycles : 4). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226953 ms (missed cycles : 4).[0m ×2 + 18.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793912920.37379432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.05sINFOmove_groupClearing octomap...[0m ×2 + 19.05sINFOmove_groupOctomap cleared.[0m ×2 + 19.09sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.09sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185895 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185895 ms (missed cycles : 2).[0m ×2 + 20.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793912921.53394914 seconds ×3 + 20.58sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 20.58sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 20.58sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570394, y=-0.0171765, yaw=-0.018397 + 20.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793912922.11529231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.954ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830138 ms (missed cycles : 4). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830138 ms (missed cycles : 4).[0m ×2 + 21.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793912922.94546747 seconds ×3 + 21.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954986 ms (missed cycles : 3).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.6s	114 errors · 30 warnings · 579 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.174ms + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136839 ms (missed cycles : 4). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136839 ms (missed cycles : 4).[0m ×2 + 1.04sINFOjoint_trajectory_controllerGoal reached, success! + 1.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.06sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793912919.75322032 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.09sINFOstate_estimatorReceived a set_pose request (stamp: 1793912919768288070, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.43sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 5.198ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226953 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226953 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.60sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.60sINFOobjective_server_nodecaller: ×4 + 1.60sINFOobjective_server_nodetype: 0 ×4 + 1.60sINFOobjective_server_nodename: "" ×4 + 1.60sINFOobjective_server_nodeinstance_id: "" ×4 + 1.60sINFOobjective_server_node ×4 + 1.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793912920.37379432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.68sINFOmove_groupClearing octomap...[0m ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×2 + 1.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185895 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185895 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793912921.53394914 seconds ×3 + 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=-0.0570394, y=-0.0171765, yaw=-0.018397 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793912922.11529231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.954ms + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830138 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830138 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793912922.94546747 seconds ×3 + 4.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954986 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954986 ms (missed cycles : 3).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867493 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867493 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641506 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641506 ms (missed cycles : 3).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676601 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676601 ms (missed cycles : 2).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260204 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260204 ms (missed cycles : 2).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562266 ms (missed cycles : 4). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562266 ms (missed cycles : 4).[0m ×2 + 10.40sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.43sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_video_auth_proxy-41process has died [pid 8244, 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 + 10.43sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.45sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORweb_bridge_auth_proxy-40process has died [pid 8243, 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 + 10.45sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.47sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.48sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.49sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.51sINFOvideo_server-39process has finished cleanly [pid 8240] ×2 + 10.51sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.52sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.53sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.54sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.55sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.56sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.57sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.58sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.59sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.61sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.62sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.62sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.64sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.65sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.66sINFOcontroller_managerShutdown request received.... + 10.66sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.66sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.66sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.66sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.66sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.66sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.66sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.66sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.66sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.66sINFOcontroller_managerShutting down the controller manager. + 10.67sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.68sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.70sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.70sERRORmove_group-25process has died [pid 8222, 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_9zbyjtj5 --params-file /tmp/launch_params_vkmhtrol --params-file /tmp/launch_params_sy8xirgc --params-file /tmp/launch_params_8zii_6wv --params-file /tmp/launch_params_e3vuj3fs --params-file /tmp/launch_params_e2ujepm1']. ×2 + 10.71sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.72sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.73sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.74sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.75sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.77sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.78sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.79sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.79sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.79sINFOmap_serverDeactivating + 10.79sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.80sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.80sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.80sINFOcontroller_serverDeactivating + 10.80sINFOlocal_costmap.local_costmapDeactivating + 10.80sINFOvideo_server2026/11/05 21:08:49 INF shutting down gracefully ×2 + 10.80sINFOvideo_server2026/11/05 21:08:49 INF [WebRTC] closing ×2 + 10.80sINFOvideo_server2026/11/05 21:08:49 INF [RTSP] closing ×2 + 10.80sINFOvideo_server2026/11/05 21:08:49 INF waiting for running hooks ×2 + 10.80sINFOmap_serverCleaning up + 10.80sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.80sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.80sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.80sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.80sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.80sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.80sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.80sERRORmove_groupStack trace (most recent call last) in thread 9118: ×2 + 10.80sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.80sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e2c156cc3, in __clone ×2 + 10.80sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e2c0c9b83, in ×2 + 10.80sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e2c35adb3, in ×2 + 10.80sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f0e2cac4d64, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.80sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e2c6ee620, in rclcpp::Rate::sleep() ×2 + 10.80sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e2c630d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.80sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e2c5f2087, in ×2 + 10.80sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e2c329390, in __cxa_throw ×2 + 10.80sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e2c313a54, in std::terminate() ×2 + 10.80sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e2c3290d9, in ×2 + 10.80sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e2c313ff4, in ×2 + 10.81sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e2c0558fe, in abort ×2 + 10.81sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e2c07227d, in raise ×2 + 10.81sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e2c0cbc0c, in pthread_kill ×2 + 10.81sERRORmove_groupAborted (Signal sent by tkill() 8222 0) ×2 + 10.81sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.81sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.81sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.81sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.81sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.81sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.81sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.81sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.81sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.81sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.81sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.82sERRORamclThe bond connection to the lifecycle manager has been broken + 10.82sINFOcontroller_serverCleaning up + 10.82sINFOlocal_costmap.local_costmapCleaning up + 10.87sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.87sINFOsmoother_serverDeactivating + 10.87sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.88sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.88sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.88sINFOsmoother_serverCleaning up + 10.88sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.90sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.90sINFOplanner_serverDeactivating + 10.90sINFOglobal_costmap.global_costmapDeactivating + 10.98sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.98sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.98sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.98sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.99sINFOvelocity_smootherDeactivating + 10.99sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.10sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.10sINFOwaypoint_followerDeactivating + 11.10sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.21sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.21sINFObt_navigatorDeactivating + 11.21sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.33sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.33sINFObehavior_serverDeactivating + 11.33sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.44sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.44sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.44sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.45sINFOvelocity_smootherCleaning up + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.45sINFOwaypoint_followerCleaning up + 11.48sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.48sINFObt_navigatorCleaning up + 11.54sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.54sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.54sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.54sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.54sINFOjoint_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 + 11.54sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.54sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.54sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.54sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.55sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.55sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.55sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.55sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.55sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.55sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.55sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.55sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.55sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8239] ×2 + 11.55sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.55sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.55sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.55sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.55sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOtf_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 + 11.55sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.55sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.55sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.55sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.55sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.55sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.55sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.55sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.55sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.55sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.55sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.55sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.55sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.61sERRORjoint_state_visualization_relay-37process has died [pid 8237, 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__wyinjpv']. ×2 + 11.61sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.62sERRORtf_visualization_relay-36process has died [pid 8236, 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_2269web_']. ×2 + 11.62sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.65sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8227] ×2 + 11.66sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8225] ×2 + 11.66sINFObt_navigatorCompleted Cleaning up + 11.66sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.66sINFObehavior_serverCleaning up + 11.66sINFOui_teleop_bridge-34process has finished cleanly [pid 8232] ×2 + 11.67sINFOexecute_objective_bridge-33process has finished cleanly [pid 8231] ×2 + 11.70sINFOparameter_manager_node-26process has finished cleanly [pid 8223] ×2 + 11.72sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.72sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.72sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.72sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.73sINFOwaypoint_manager_node-27process has finished cleanly [pid 8224] ×2 + 11.74sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.74sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.75sINFOplanner_serverCleaning up + 11.75sINFOrelay-11process has finished cleanly [pid 8164] ×2 + 11.75sINFOrelay-10process has finished cleanly [pid 8163] ×2 + 11.76sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8059] ×2 + 11.76sINFOcomponent_container_mt-32process has finished cleanly [pid 8230] ×2 + 11.76sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8165] ×2 + 11.76sINFOglobal_costmap.global_costmapCleaning up + 11.77sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8058] ×2 + 11.77sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.77sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.78sINFOstatic_transform_publisher-7process has finished cleanly [pid 8057] ×2 + 11.79sINFOstatic_transform_publisher-6process has finished cleanly [pid 8056] ×2 + 11.80sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.80sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.80sINFOlidar_flattener.pymain() ×2 + 11.80sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.80sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.80sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.80sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.80sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.80sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.80sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.80sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.80sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.80sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.80sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.81sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.81sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.81sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.81sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.81sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.81sINFOcomponent_container_mt-31process has finished cleanly [pid 8229] ×2 + 11.82sINFOobjective_server_node[2026-11-05 21:08:50.512] [moveit_pro_license] [critical] ×2 + 11.82sINFOobjective_server_node************************************************* ×4 + 11.82sINFOobjective_server_node* MoveIt Pro License ×2 + 11.82sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.82sINFOstatic_transform_publisher-3process has finished cleanly [pid 8053] ×2 + 11.85sERRORlidar_flattener.py-5process has died [pid 8055, 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_ffytb6a4']. ×2 + 12.02sINFOobjective_server_node_main-30process has finished cleanly [pid 8228] ×2 + 12.02sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.14sERRORcomponent_container_isolated-2process has died [pid 8052, 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_w57epwyy --params-file /tmp/launch_params_b7jd39cw -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.14sERRORcomponent_container_isolated-1process has died [pid 8051, 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_w57epwyy --params-file /tmp/launch_params_nwki44ma -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.80sINFOodom_world_drift-4process has finished cleanly [pid 8054] ×2 + 13.34sINFOweb_bridge-35process has finished cleanly [pid 8235] ×2 + 13.34sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 13.41sINFOros2_control_node-13process has finished cleanly [pid 8166] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 61 warnings · 172 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.489ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394049 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394049 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.759ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646329 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646329 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447992 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447992 ms (missed cycles : 4).[0m ×2 + 2.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.231ms + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793912757.05384803 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOstate_estimatorReceived a set_pose request (stamp: 1793912757073068013, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-1.98, 11.02) is out of map bounds (-3.85, 3.95) to (1.13, 8.93). The costmap cannot raytrace for it. + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.62) is out of map bounds (-3.85, 3.95) to (1.13, 8.93). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-1.98, 11.00) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.60) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-1.98, 11.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.247ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001442 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001442 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793912757.66264939 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 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618313 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618313 ms (missed cycles : 4).[0m ×2 + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.02sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.841ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401543 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401543 ms (missed cycles : 4).[0m ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395300 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395300 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070762 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070762 ms (missed cycles : 3).[0m ×2 + 8.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.396ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041742 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041742 ms (missed cycles : 3).[0m ×2 + 8.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.882ms + 9.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.478ms + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214612 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214612 ms (missed cycles : 2).[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.124ms + 10.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.097ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629476 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629476 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 11.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.005ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671416 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671416 ms (missed cycles : 3).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.331ms + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283534 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283534 ms (missed cycles : 2).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.075ms + 13.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.774ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904851 ms (missed cycles : 3). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904851 ms (missed cycles : 3).[0m ×2 + 13.86sINFOobjective_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 + 13.87sINFOjoint_trajectory_controllerGot request to cancel goal + 13.87sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.91sERRORobjective_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: 1793912768.08555555 seconds ×3 + 13.93sINFOstate_estimatorReceived a set_pose request (stamp: 1793912768099882465, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.099ms + 14.13sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 3.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.13sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 3.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.23sINFOamclParticle filter update iteration stats: 4642 particles 811 points - 7.777ms + 14.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793912768.68334818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 31.698ms + 14.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111793 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111793 ms (missed cycles : 3).[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.408ms + 14.90sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459509 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459509 ms (missed cycles : 2).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473171 ms (missed cycles : 3). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473171 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	47 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3).[0m ×2 + 2.02sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.02sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793912663.68192744 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.08sINFOstate_estimatorReceived a set_pose request (stamp: 1793912663707222966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.63) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2).[0m ×2 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.471ms + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.48sINFOamclInitializing particles from estimated pose and covariance + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.59sINFOobjective_server_nodecaller: ×4 + 2.59sINFOobjective_server_nodetype: 0 ×4 + 2.59sINFOobjective_server_nodename: "" ×4 + 2.59sINFOobjective_server_nodeinstance_id: "" ×4 + 2.59sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793912664.28366852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.223ms + 3.03sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.32sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.32sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021381 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021381 ms (missed cycles : 3).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116477 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116477 ms (missed cycles : 4).[0m ×2 + 8.37sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793912670.01384616 seconds ×3 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471981 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471981 ms (missed cycles : 3).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239659 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239659 ms (missed cycles : 2).[0m ×2 + 9.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 9.96sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793912671.60526228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.34sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171626 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171626 ms (missed cycles : 2).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155092 ms (missed cycles : 4). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155092 ms (missed cycles : 4).[0m ×2 + 12.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900656 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900656 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	44 warnings · 148 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.462ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053379 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053379 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.615ms + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013810 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013810 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.153ms + 2.53sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.53sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883895 ms (missed cycles : 4). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883895 ms (missed cycles : 4).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793912840.02354693 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOstate_estimatorReceived a set_pose request (stamp: 1793912840039652576, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.26) is out of map bounds (-3.90, 4.35) to (1.08, 9.33). The costmap cannot raytrace for it. + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.90) is out of map bounds (-3.90, 4.35) to (1.08, 9.33). The costmap cannot raytrace for it. + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.656ms + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793912840.61038494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014891 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014891 ms (missed cycles : 2).[0m ×2 + 3.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339042 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339042 ms (missed cycles : 4).[0m ×2 + 4.73sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 4.73sINFOamclInitializing particles from estimated pose and covariance + 4.73sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 4.73sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548946, y=-0.0157119, yaw=-0.0118647 + 4.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.026ms + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440358 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440358 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 8.83sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 9.04sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 9.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.58sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.63sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	39 warnings · 169 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433808 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433808 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946252 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946252 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563997 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563997 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793912600.29769611 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.27sINFOstate_estimatorReceived a set_pose request (stamp: 1793912600313897494, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.326ms + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.77sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_node ×4 + 2.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793912600.88049936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNobjective_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440313 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440313 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.2385e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160043 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160043 ms (missed cycles : 2).[0m ×2 + 4.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.0 deg) + 4.41sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.0 deg)[0m ×2 + 4.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0476746, y=-0.0218286, yaw=-0.000423815 + 4.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.680ms + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.556ms + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.824ms + 6.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.601ms + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319293 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319293 ms (missed cycles : 3).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.189ms + 6.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.846ms + 7.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.204ms + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.618ms + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418248 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418248 ms (missed cycles : 3).[0m ×2 + 7.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.670ms + 8.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.091ms + 8.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793912606.49065757 seconds ×3 + 8.45sINFOstate_estimatorReceived a set_pose request (stamp: 1793912606508093089, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.688ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819477 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819477 ms (missed cycles : 2).[0m ×2 + 8.86sINFOamclParticle filter update iteration stats: 1619 particles 811 points - 5.429ms + 8.86sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 8.86sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 8.86sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.05699, y=-0.0171776, yaw=-0.0183977 + 8.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.97sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793912607.09175134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.318ms + 9.40sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342720 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342720 ms (missed cycles : 3).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456249 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456249 ms (missed cycles : 3).[0m ×2 + 11.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047610 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047610 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.8s	24 warnings · 126 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273536 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273536 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.767ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794997 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794997 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.174ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136839 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136839 ms (missed cycles : 4).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793912919.75322032 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOstate_estimatorReceived a set_pose request (stamp: 1793912919768288070, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 5.198ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226953 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226953 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793912920.37379432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185895 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185895 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793912921.53394914 seconds ×3 + 4.83sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.83sINFOamclInitializing particles from estimated pose and covariance + 4.83sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.83sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570394, y=-0.0171765, yaw=-0.018397 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793912922.11529231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.954ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830138 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830138 ms (missed cycles : 4).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793912922.94546747 seconds ×3 + 6.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954986 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954986 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867493 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867493 ms (missed cycles : 3).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	6 errors · 24 warnings · 708 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.62sINFOobjective_server_nodeobjective_name: "" ×8 + 0.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.62sINFOobjective_server_node ×50 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.62sINFOobjective_server_node</Control> ×16 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 0.62sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.62sINFOobjective_server_nodecaller: ×22 + 0.62sINFOobjective_server_nodetype: 0 ×22 + 0.62sINFOobjective_server_nodename: "" ×22 + 0.62sINFOobjective_server_nodeinstance_id: "" ×22 + 0.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 0.75sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_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 + 0.78sINFOobjective_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 + 0.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 1.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.30sINFOmove_groupClearing octomap...[0m ×4 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.32sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 7.43sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2
✓ 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 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.73942327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.81963682 seconds ×3 + 0.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.18sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.22sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.84sINFOobjective_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 + 0.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 0.97sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.03sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 1.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.52sINFOmove_groupClearing octomap...[0m ×4 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×4 + 2.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.07sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 4.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 6.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	28 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.891ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793912702.39544463 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1793912702411672271, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.96sWARNlocal_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. + 2.96sWARNlocal_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. + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.090ms + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 8.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 8.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793912702.99365950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 38.830ms + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.36sINFOamclInitializing particles from estimated pose and covariance + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.748ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 341 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 0.10sINFOcontroller_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 + 0.12sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.75sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_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 + 2.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433808 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433808 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946252 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946252 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563997 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563997 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793912600.29769611 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOstate_estimatorReceived a set_pose request (stamp: 1793912600313897494, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.326ms + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.77sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.77sINFOobjective_server_nodecaller: ×2 + 2.77sINFOobjective_server_nodetype: 0 ×2 + 2.77sINFOobjective_server_nodename: "" ×2 + 2.77sINFOobjective_server_nodeinstance_id: "" ×2 + 2.77sINFOobjective_server_node ×2 + 2.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793912600.88049936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNobjective_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440313 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440313 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.2385e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160043 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160043 ms (missed cycles : 2).[0m ×2 + 4.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.0 deg) + 4.41sINFOamclInitializing particles from estimated pose and covariance + 4.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.0 deg)[0m ×2 + 4.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0476746, y=-0.0218286, yaw=-0.000423815 + 4.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.680ms + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.556ms + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.824ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 82 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433808 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433808 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946252 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946252 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563997 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563997 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793912600.29769611 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.27sINFOstate_estimatorReceived a set_pose request (stamp: 1793912600313897494, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.326ms + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.77sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.77sINFOobjective_server_nodecaller: ×2 + 2.77sINFOobjective_server_nodetype: 0 ×2 + 2.77sINFOobjective_server_nodename: "" ×2 + 2.77sINFOobjective_server_nodeinstance_id: "" ×2 + 2.77sINFOobjective_server_node ×2 + 2.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793912600.88049936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sWARNobjective_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440313 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440313 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.2385e-05 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160043 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160043 ms (missed cycles : 2).[0m ×2 + 4.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.0 deg) + 4.41sINFOamclInitializing particles from estimated pose and covariance + 4.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.0 deg)[0m ×2 + 4.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0476746, y=-0.0218286, yaw=-0.000423815 + 4.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.680ms + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.556ms + 5.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 6.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.824ms
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 90 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918230 ms (missed cycles : 2).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.174ms + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.824ms + 0.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.601ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319293 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319293 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.189ms + 1.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.846ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.204ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.618ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418248 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418248 ms (missed cycles : 3).[0m ×2 + 2.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.670ms + 2.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.091ms + 2.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793912606.49065757 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOstate_estimatorReceived a set_pose request (stamp: 1793912606508093089, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.688ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819477 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819477 ms (missed cycles : 2).[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 1619 particles 811 points - 5.429ms + 3.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.35sINFOamclInitializing particles from estimated pose and covariance + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.05699, y=-0.0171776, yaw=-0.0183977 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793912607.09175134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.318ms + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342720 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342720 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456249 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456249 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047610 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047610 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3).[0m ×2 + 2.02sINFOjoint_trajectory_controllerGoal reached, success! + 2.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793912663.68192744 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sINFOstate_estimatorReceived a set_pose request (stamp: 1793912663707222966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.63) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2).[0m ×2 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.471ms + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.48sINFOamclInitializing particles from estimated pose and covariance + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793912664.28366852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.223ms + 3.03sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.32sINFOjoint_trajectory_controllerReceived new action goal + 3.32sINFOjoint_trajectory_controllerAccepted new action goal + 3.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3).[0m ×2 + 2.02sINFOjoint_trajectory_controllerGoal reached, success! + 2.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793912663.68192744 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sINFOstate_estimatorReceived a set_pose request (stamp: 1793912663707222966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.63) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2).[0m ×2 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.471ms + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.48sINFOamclInitializing particles from estimated pose and covariance + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793912664.28366852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.223ms + 3.03sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.32sINFOjoint_trajectory_controllerReceived new action goal + 3.32sINFOjoint_trajectory_controllerAccepted new action goal + 3.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3).[0m ×2 + 2.02sINFOjoint_trajectory_controllerGoal reached, success! + 2.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793912663.68192744 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sINFOstate_estimatorReceived a set_pose request (stamp: 1793912663707222966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.63) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2).[0m ×2 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.471ms + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.48sINFOamclInitializing particles from estimated pose and covariance + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793912664.28366852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.223ms + 3.03sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.32sINFOjoint_trajectory_controllerReceived new action goal + 3.32sINFOjoint_trajectory_controllerAccepted new action goal + 3.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3).[0m ×2 + 2.02sINFOjoint_trajectory_controllerGoal reached, success! + 2.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793912663.68192744 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sINFOstate_estimatorReceived a set_pose request (stamp: 1793912663707222966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.63) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2).[0m ×2 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.471ms + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.48sINFOamclInitializing particles from estimated pose and covariance + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793912664.28366852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.223ms + 3.03sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.32sINFOjoint_trajectory_controllerReceived new action goal + 3.32sINFOjoint_trajectory_controllerAccepted new action goal + 3.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3).[0m ×2 + 2.02sINFOjoint_trajectory_controllerGoal reached, success! + 2.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793912663.68192744 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sINFOstate_estimatorReceived a set_pose request (stamp: 1793912663707222966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.63) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2).[0m ×2 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.471ms + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.48sINFOamclInitializing particles from estimated pose and covariance + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793912664.28366852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.223ms + 3.03sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.32sINFOjoint_trajectory_controllerReceived new action goal + 3.32sINFOjoint_trajectory_controllerAccepted new action goal + 3.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 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	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3).[0m ×2 + 2.02sINFOjoint_trajectory_controllerGoal reached, success! + 2.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793912663.68192744 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sINFOstate_estimatorReceived a set_pose request (stamp: 1793912663707222966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.63) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2).[0m ×2 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.471ms + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.48sINFOamclInitializing particles from estimated pose and covariance + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793912664.28366852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.223ms + 3.03sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.32sINFOjoint_trajectory_controllerReceived new action goal + 3.32sINFOjoint_trajectory_controllerAccepted new action goal + 3.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	26 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526912 ms (missed cycles : 4).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.337ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741436 ms (missed cycles : 3).[0m ×2 + 2.02sINFOjoint_trajectory_controllerGoal reached, success! + 2.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793912663.68192744 seconds ×3 + 2.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sINFOstate_estimatorReceived a set_pose request (stamp: 1793912663707222966, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.63) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.75, 6.25) to (0.23, 11.23). The costmap cannot raytrace for it. + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155083 ms (missed cycles : 2).[0m ×2 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.471ms + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.48sINFOamclInitializing particles from estimated pose and covariance + 2.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 2.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.59sINFOobjective_server_nodecaller: ×2 + 2.59sINFOobjective_server_nodetype: 0 ×2 + 2.59sINFOobjective_server_nodename: "" ×2 + 2.59sINFOobjective_server_nodeinstance_id: "" ×2 + 2.59sINFOobjective_server_node ×2 + 2.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793912664.28366852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.223ms + 3.03sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031196 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.32sINFOjoint_trajectory_controllerReceived new action goal + 3.32sINFOjoint_trajectory_controllerAccepted new action goal + 3.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132650 ms (missed cycles : 3).[0m ×2 + 4.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348703 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	28 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.891ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793912702.39544463 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1793912702411672271, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.96sWARNlocal_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. + 2.96sWARNlocal_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. + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.090ms + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 8.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 8.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793912702.99365950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 38.830ms + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.36sINFOamclInitializing particles from estimated pose and covariance + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.748ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	28 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.891ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793912702.39544463 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1793912702411672271, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.96sWARNlocal_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. + 2.96sWARNlocal_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. + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.090ms + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 8.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 8.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793912702.99365950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 38.830ms + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.36sINFOamclInitializing particles from estimated pose and covariance + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.748ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	28 warnings · 82 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.891ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177027 ms (missed cycles : 3).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.975ms + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687343 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452680 ms (missed cycles : 3).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793912702.39544463 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOstate_estimatorReceived a set_pose request (stamp: 1793912702411672271, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-4.20, 2.85) to (0.78, 7.83). The costmap cannot raytrace for it. + 2.96sWARNlocal_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. + 2.96sWARNlocal_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. + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.090ms + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.30, 8.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 8.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793912702.99365950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 38.830ms + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.36sINFOamclInitializing particles from estimated pose and covariance + 3.36sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.36sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568946, y=-0.01718, yaw=-0.0184003 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066542 ms (missed cycles : 3).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.748ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169785 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388389 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	6 errors · 21 warnings · 587 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 0.00sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.02sINFOobjective_server_nodeobjective_name: "" ×6 + 0.02sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.02sINFOobjective_server_nodecaller: ×20 + 0.02sINFOobjective_server_nodetype: 0 ×20 + 0.02sINFOobjective_server_nodename: "" ×20 + 0.02sINFOobjective_server_nodeinstance_id: "" ×20 + 0.02sINFOobjective_server_node ×34 + 0.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.69sINFOobjective_server_node</Control> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 1.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.55sINFOmove_groupClearing octomap...[0m ×4 + 1.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.55sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 2.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 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: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[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: "" + 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_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: 1793912556.68953228 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107032 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188166 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065829 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.33sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793912846.48073053 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.87sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.87sINFOobjective_server_nodecaller: ×2 + 2.87sINFOobjective_server_nodetype: 0 ×2 + 2.88sINFOobjective_server_nodename: "" ×2 + 2.88sINFOobjective_server_nodeinstance_id: "" ×2 + 2.88sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793912847.07869697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906252 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103520 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.29sINFOjoint_trajectory_controllerReceived new action goal + 5.29sINFOjoint_trajectory_controllerAccepted new action goal + 5.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614066 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	19 warnings · 126 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273536 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273536 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.767ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794997 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794997 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.174ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136839 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136839 ms (missed cycles : 4).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793912919.75322032 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOstate_estimatorReceived a set_pose request (stamp: 1793912919768288070, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sINFOamclParticle filter update iteration stats: 1544 particles 811 points - 5.198ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226953 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226953 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793912920.37379432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185895 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185895 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793912921.53394914 seconds ×3 + 4.83sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.83sINFOamclInitializing particles from estimated pose and covariance + 4.83sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.83sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570394, y=-0.0171765, yaw=-0.018397 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793912922.11529231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.954ms + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830138 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830138 ms (missed cycles : 4).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793912922.94546747 seconds ×3 + 6.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954986 ms (missed cycles : 3).
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	3 errors · 21 warnings · 540 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.16sINFOobjective_server_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 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sINFOros2_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 + 0.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.86sINFOmove_groupClearing octomap...[0m ×4 + 0.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 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: 1793912553.23244572 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 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 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_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 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	6 errors · 21 warnings · 593 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 0.00sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.02sINFOobjective_server_nodeobjective_name: "" ×6 + 0.02sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.02sINFOobjective_server_nodecaller: ×20 + 0.02sINFOobjective_server_nodetype: 0 ×20 + 0.02sINFOobjective_server_nodename: "" ×20 + 0.02sINFOobjective_server_nodeinstance_id: "" ×20 + 0.02sINFOobjective_server_node ×34 + 0.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.69sINFOobjective_server_node</Control> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 1.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.55sINFOmove_groupClearing octomap...[0m ×4 + 1.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.55sINFOmove_groupOctomap cleared.[0m ×4 + 1.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 2.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 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: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[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: "" + 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 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 + 4.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_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: 1793912556.68953228 seconds ×3 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.97sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 833 info
+ 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×21 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×42 + 0.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×23 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×46 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 1.07sINFOobjective_server_nodeobjective_name: "" ×12 + 1.07sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.07sINFOobjective_server_node ×68 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.07sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.07sINFOobjective_server_node</Control> ×24 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.07sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.07sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×26 + 1.07sINFOobjective_server_nodecaller: ×26 + 1.07sINFOobjective_server_nodetype: 0 ×26 + 1.07sINFOobjective_server_nodename: "" ×26 + 1.07sINFOobjective_server_nodeinstance_id: "" ×26 + 1.10sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.73942327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.81963682 seconds ×3 + 1.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 1.24sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.94sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 2.03sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.10sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.72sINFOobjective_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 + 2.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 2.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.58sINFOmove_groupClearing octomap...[0m ×4 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.58sINFOmove_groupOctomap cleared.[0m ×4 + 3.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.01sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 7.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 7.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 7.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 7.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2
− skipped	—	addtovector.xml	0.0s	6 errors · 21 warnings · 747 info
+ 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×19 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×38 + 0.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402609 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.07sINFOobjective_server_nodeobjective_name: "" ×12 + 1.07sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.07sINFOobjective_server_node ×66 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.07sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.07sINFOobjective_server_node</Control> ×24 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.07sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.07sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.07sINFOobjective_server_nodecaller: ×24 + 1.07sINFOobjective_server_nodetype: 0 ×24 + 1.07sINFOobjective_server_nodename: "" ×24 + 1.07sINFOobjective_server_nodeinstance_id: "" ×24 + 1.10sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.73942327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.81963682 seconds ×3 + 1.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 1.24sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.94sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 2.03sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.10sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.72sINFOobjective_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 + 2.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 2.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.58sINFOmove_groupClearing octomap...[0m ×2 + 3.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.58sINFOmove_groupOctomap cleared.[0m ×2 + 3.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 5.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 21 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.62sINFOobjective_server_nodeobjective_name: "" ×8 + 0.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.62sINFOobjective_server_node ×50 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.62sINFOobjective_server_node</Control> ×16 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 0.62sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.62sINFOobjective_server_nodecaller: ×22 + 0.62sINFOobjective_server_nodetype: 0 ×22 + 0.62sINFOobjective_server_nodename: "" ×22 + 0.62sINFOobjective_server_nodeinstance_id: "" ×22 + 0.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 0.75sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_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 + 0.78sINFOobjective_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 + 0.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 1.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.30sINFOmove_groupClearing octomap...[0m ×4 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.32sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 21 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.62sINFOobjective_server_nodeobjective_name: "" ×8 + 0.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.62sINFOobjective_server_node ×50 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.62sINFOobjective_server_node</Control> ×16 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 0.62sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.62sINFOobjective_server_nodecaller: ×22 + 0.62sINFOobjective_server_nodetype: 0 ×22 + 0.62sINFOobjective_server_nodename: "" ×22 + 0.62sINFOobjective_server_nodeinstance_id: "" ×22 + 0.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 0.75sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_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 + 0.78sINFOobjective_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 + 0.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 1.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.30sINFOmove_groupClearing octomap...[0m ×4 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.32sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 21 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912550.91789794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912550.98807502 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944490 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.62sINFOobjective_server_nodeobjective_name: "" ×8 + 0.62sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.62sINFOobjective_server_node ×50 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.62sINFOobjective_server_node</Control> ×16 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 0.62sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.62sINFOobjective_server_nodecaller: ×22 + 0.62sINFOobjective_server_nodetype: 0 ×22 + 0.62sINFOobjective_server_nodename: "" ×22 + 0.62sINFOobjective_server_nodeinstance_id: "" ×22 + 0.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.57925248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912551.66941094 seconds ×3 + 0.75sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_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 + 0.78sINFOobjective_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 + 0.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912551.73366451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912551.80381799 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808841 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 1.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.30sINFOmove_groupClearing octomap...[0m ×4 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.30sINFOmove_groupOctomap cleared.[0m ×4 + 2.31sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.31sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.32sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	3 errors · 18 warnings · 540 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.39771199 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793912552.49788451 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.16sINFOobjective_server_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 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793912552.55300093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793912552.62315392 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sINFOros2_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 + 0.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.86sINFOmove_groupClearing octomap...[0m ×4 + 0.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 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: 1793912553.23244572 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 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 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_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 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.88sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[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 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[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 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793912553.21228528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.04sINFOmove_groupClearing octomap...[0m ×4 + 0.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.04sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793912553.23244572 seconds ×3 + 0.06sINFOcontroller_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 + 0.07sINFOros2_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 + 0.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961095 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793912553.80893135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793912553.86909223 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255095 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793912554.56096482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793912554.62111712 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793912555.26241755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793912555.28256273 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673910 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793912555.85927272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793912556.00984311 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869913 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793912556.62939119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793912556.68953228 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793912557.27755165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184608 ms (missed cycles : 2).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022235 ms (missed cycles : 3).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719544 ms (missed cycles : 2).[0m ×2