MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

17.1s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾(no parent)

5 pass

✓ passed	—	test_base_link_has_single_tf_parent	23.2s	6 errors · 321 warnings · 1761 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/2026-11-11-18-24-47-909275-5ba9d11bb071-8035 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.23sINFOstatic_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' + 4.23sINFOstatic_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' + 4.24sINFOstatic_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' + 4.25sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.30sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.32sINFOmap_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. + 4.32sINFOmap_serverCreating + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.33sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.34sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.34sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.36sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.36sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.38sINFOlifecycle_manager_localizationCreating + 4.38sINFOcontroller_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. + 4.39sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.40sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.40sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.40sINFOmap_serverConfiguring + 4.45sINFOcontroller_serverCreating controller server + 4.45sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.45sINFOamclConfiguring + 4.47sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.47sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.47sINFOmap_serverActivating + 4.47sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.48sINFOlocal_costmap.local_costmapCreating Costmap + 4.52sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.56sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.57sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.58sINFOros2_control_node-13process started with pid [8200] ×2 + 4.58sINFOplanning_scene_server-26process started with pid [8262] ×2 + 4.58sINFOcontroller_managerupdate rate is 600 Hz + 4.58sINFOparameter_manager_node-27process started with pid [8263] ×2 + 4.58sINFOwaypoint_manager_node-28process started with pid [8264] ×2 + 4.58sINFOcontroller_managerOverruns handling is : enabled + 4.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.58sINFOmove_joint_resampler_node-29process started with pid [8265] ×2 + 4.58sWARNcontroller_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. + 4.58sINFOmove_end_effector_resampler_node-30process started with pid [8267] ×2 + 4.58sINFOobjective_server_node_main-31process started with pid [8268] ×2 + 4.58sINFOcomponent_container_mt-32process started with pid [8270] ×2 + 4.58sINFOcomponent_container_mt-33process started with pid [8276] ×2 + 4.58sINFOexecute_objective_bridge-34process started with pid [8277] ×2 + 4.58sINFOsmoother_serverCreating smoother server + 4.58sINFOui_teleop_bridge-35process started with pid [8278] ×2 + 4.58sINFOweb_bridge-36process started with pid [8279] ×2 + 4.58sINFOtf_visualization_relay-37process started with pid [8282] ×2 + 4.58sINFOjoint_state_visualization_relay-38process started with pid [8289] ×2 + 4.58sINFOtf2_web_republisher_node-39process started with pid [8296] ×2 + 4.58sINFOvideo_server-40process started with pid [8297] ×2 + 4.58sINFOweb_bridge_auth_proxy-41process started with pid [8298] ×2 + 4.58sINFOweb_video_auth_proxy-42process started with pid [8299] ×2 + 4.59sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.59sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.59sINFOamclActivating + 4.59sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.59sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.59sINFOstate_estimatorReceived a set_pose request (stamp: 1794421494227326232, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.60sINFOamclSubscribed to map_topic: /map + 4.60sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.60sINFOamclCreated reinitialize_global_localization service + 4.60sINFOamclCreated request_nomotion_update service + 4.61sINFOamclA new map was received + 4.61sINFOamclInitializing particle filter instance + 4.62sINFOcomponent_container_isolated-1process started with pid [8085] ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547027 ms (missed cycles : 5). + 4.62sINFOcomponent_container_isolated-2process started with pid [8086] ×2 + 4.62sINFOstatic_transform_publisher-3process started with pid [8087] ×2 + 4.62sINFOodom_world_drift-4process started with pid [8088] ×2 + 4.62sINFOlidar_flattener.py-5process started with pid [8089] ×2 + 4.62sINFOstatic_transform_publisher-6process started with pid [8090] ×2 + 4.62sINFOstatic_transform_publisher-7process started with pid [8091] ×2 + 4.62sINFOscan_to_scan_filter_chain-8process started with pid [8092] ×2 + 4.62sINFOscan_to_scan_filter_chain-9process started with pid [8093] ×2 + 4.62sINFOrelay-10process started with pid [8197] ×2 + 4.62sINFOrelay-11process started with pid [8198] ×2 + 4.62sINFOfixed_lag_smoother_node-12process started with pid [8199] ×2 + 4.62sINFOros2-14process started with pid [8201] ×2 + 4.62sINFOros2-15process started with pid [8202] ×2 + 4.62sINFOros2-16process started with pid [8203] ×2 + 4.62sINFOros2-17process started with pid [8205] ×2 + 4.62sINFOros2-18process started with pid [8207] ×2 + 4.62sINFOros2-19process started with pid [8208] ×2 + 4.62sINFOros2-20process started with pid [8209] ×2 + 4.62sINFOros2-21process started with pid [8210] ×2 + 4.62sINFOros2-22process started with pid [8211] ×2 + 4.62sINFOros2-23process started with pid [8214] ×2 + 4.62sINFOros2-24process started with pid [8215] ×2 + 4.62sINFOros2-25process started with pid [8261] ×2 + 4.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.67sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.69sINFOplanner_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. + 4.72sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.72sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.72sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.72sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.72sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.72sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.72sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.72sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.73sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.73sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.73sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.73sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.73sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.73sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547027 ms (missed cycles : 5).[0m ×2 + 4.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.74sINFOplanner_serverCreating + 4.80sINFOglobal_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. + 4.81sINFOglobal_costmap.global_costmapCreating Costmap + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.86sINFObehavior_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. + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.90sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.90sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.93sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.98sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.01sINFObt_navigatorCreating + 5.02sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.02sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.03sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.03sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.04sINFOrobot_state_publisherRobot initialized + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.04sINFOcontroller_managerReceived robot description from topic. + 5.04sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.04sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.04sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.06sINFOvideo_server2026/11/11 18:24:54 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.07sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.07sINFOvideo_server2026/11/11 18:24:54 INF configuration loaded from /tmp/moveit-webrtc-d1x1uf9j/mediamtx.yml ×2 + 5.07sINFOvideo_server2026/11/11 18:24:54 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.07sINFOvideo_server2026/11/11 18:24:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.08sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.08sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.10sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.10sINFOwaypoint_followerCreating + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.19sINFOvelocity_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. + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.19sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.24sWARNlaser_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. + 5.24sWARNscan_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 + 5.25sWARNlaser_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. + 5.28sINFOlifecycle_manager_navigationCreating + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.30sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.33sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.37sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.37sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.37sINFOcontroller_serverConfiguring controller interface + 5.37sINFOcontroller_servergetting progress checker plugins.. + 5.37sINFOcontroller_servergetting goal checker plugins.. + 5.37sINFOcontroller_serverController frequency set to 20.0000Hz + 5.37sINFOlocal_costmap.local_costmapConfiguring + 5.38sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.38sINFOamclParticle filter initialization completed + 5.38sINFOamclInitializing particles from estimated pose and covariance + 5.38sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.40sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.40sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.40sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.42sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.45sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.46sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.46sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.46sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.48sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.49sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.50sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.51sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.53sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.54sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.55sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.57sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.57sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.58sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.58sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.59sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.59sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.59sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.59sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.60sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.60sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.61sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.61sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.61sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.61sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.61sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.62sINFOcontroller_serverOptimizer reset ×2 + 5.63sINFOcontroller_serverController Server has FollowPath controllers available. + 5.65sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.66sINFOsmoother_serverConfiguring smoother server + 5.68sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.69sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.70sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.70sINFOplanner_serverConfiguring + 5.70sINFOglobal_costmap.global_costmapConfiguring + 5.73sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.74sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.74sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.74sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.75sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.78sINFOplanning_scene_server.moveit.ros.rdf_loaderLoaded robot model in 0.446011 seconds + 5.79sINFOplanning_scene_serverLoaded robot model in 0.446011 seconds[0m ×2 + 5.79sINFOplanning_scene_server.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.79sINFOplanning_scene_server.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.80sINFOplanning_scene_serverLoading robot model 'ur5e'...[0m ×2 + 5.80sINFOplanning_scene_serverNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.81sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.81sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.81sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.86sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.86sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.87sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.89sINFOplanner_serverPlanner Server has GridBased planners available. + 5.91sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.91sINFObehavior_serverConfiguring + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.938528 ms (missed cycles : 5). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.938528 ms (missed cycles : 5).[0m ×2 + 5.93sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.94sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.94sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.94sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.95sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.95sINFObehavior_serverConfiguring spin + 5.97sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.97sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.97sINFObehavior_serverConfiguring backup + 5.99sINFObehavior_serverConfiguring drive_on_heading + 5.99sINFObehavior_serverConfiguring assisted_teleop + 6.01sINFObehavior_serverConfiguring wait + 6.02sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.02sINFObt_navigatorConfiguring + 6.03sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.04sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.28sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.35sWARNplanning_scene_serverJoint-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. + 6.35sWARNplanning_scene_serverJoint-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 + 6.35sWARNplanning_scene_serverJoint-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. + 6.35sWARNplanning_scene_serverJoint-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 + 6.36sWARNplanning_scene_serverJoint-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. + 6.36sWARNplanning_scene_serverJoint-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 + 6.36sWARNplanning_scene_serverJoint-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. + 6.36sWARNplanning_scene_serverJoint-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 + 6.36sWARNplanning_scene_serverJoint-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. + 6.36sWARNplanning_scene_serverJoint-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. + 6.36sWARNplanning_scene_serverJoint-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 + 6.36sWARNplanning_scene_serverJoint-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 + 6.36sWARNplanning_scene_serverJoint-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. + 6.36sWARNplanning_scene_serverJoint-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 + 6.36sWARNplanning_scene_serverJoint-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. + 6.36sWARNplanning_scene_serverJoint-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 + 6.37sWARNplanning_scene_serverJoint-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. + 6.37sWARNplanning_scene_serverJoint-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. + 6.37sWARNplanning_scene_serverJoint-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 + 6.37sWARNplanning_scene_serverJoint-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 + 6.37sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.37sINFOwaypoint_followerConfiguring + 6.41sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.41sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.41sINFOvelocity_smootherConfiguring velocity smoother + 6.42sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.42sINFOcontroller_serverActivating + 6.42sINFOlocal_costmap.local_costmapActivating + 6.42sINFOlocal_costmap.local_costmapChecking transform + 6.42sINFOlocal_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 ×8 + 6.47sINFOwaypoint_manager_nodeLoaded robot model in 0.287652 seconds[0m ×2 + 6.47sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.47sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.54sINFOweb_video_auth_proxy2026-11-11 18:24:56,167 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.54sINFOweb_video_auth_proxy2026-11-11 18:24:56,171 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.54sINFOweb_bridge_auth_proxy2026-11-11 18:24:56,173 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.57sINFOplanning_scene_server[2026-11-11 18:24:56.205] [moveit_pro_license] [info] ×2 + 6.57sINFOplanning_scene_server************************************************* ×4 + 6.57sINFOplanning_scene_server* MoveIt Pro License ×2 + 6.57sINFOplanning_scene_server* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.70sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.71sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.71sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.71sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.74sINFOros2_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 + 6.74sINFOros2_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sINFOplanning_scene_server.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.99sINFOplanning_scene_serverPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.00sINFOplanning_scene_server.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.00sINFOplanning_scene_serverListening to joint states on topic 'joint_states'[0m ×2 + 7.00sINFOplanning_scene_server.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.00sINFOplanning_scene_server.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.00sINFOplanning_scene_server.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.00sINFOplanning_scene_serverListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.00sINFOplanning_scene_serverStopping existing planning scene publisher.[0m ×2 + 7.01sINFOplanning_scene_server.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.01sINFOplanning_scene_server.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.01sINFOplanning_scene_server.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.01sINFOplanning_scene_serverStopped publishing maintained planning scene.[0m ×2 + 7.01sINFOplanning_scene_server.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.01sINFOplanning_scene_serverStarting planning scene monitor[0m ×2 + 7.01sINFOplanning_scene_serverListening to '/planning_scene'[0m ×2 + 7.01sINFOplanning_scene_serverStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.01sINFOplanning_scene_serverListening to 'collision_object'[0m ×2 + 7.01sINFOplanning_scene_server.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.01sINFOplanning_scene_serverListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363936 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363936 ms (missed cycles : 2).[0m ×2 + 7.09sINFOwaypoint_manager_node[2026-11-11 18:24:56.717] [moveit_pro_license] [info] ×2 + 7.09sINFOwaypoint_manager_node************************************************* ×4 + 7.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.54sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.54sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.55sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.66sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.66sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.67sINFOros2_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 + 7.67sWARNros2_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 + 7.67sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.67sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.67sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.67sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.67sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.67sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.67sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.67sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.67sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.67sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.67sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.67sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.67sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.67sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.67sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.67sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.67sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.67sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.67sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.67sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.67sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.67sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.67sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.67sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.72sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.72sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.73sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.73sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.73sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.73sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.73sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 7.73sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 7.75sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.75sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.76sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.76sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.76sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.76sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.76sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.76sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.77sINFOcontroller_managerSuccessfully switched controllers! ×19 + 7.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 7.77sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.78sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.85sINFOobjective_server_node[2026-11-11 18:24:57.484] [moveit_pro_license] [info] ×2 + 7.85sINFOobjective_server_node************************************************* ×4 + 7.85sINFOobjective_server_node* MoveIt Pro License ×2 + 7.85sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.88sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.88sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.91sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.91sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.92sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.92sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.92sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.92sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.93sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 7.93sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 7.93sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 7.93sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 7.93sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 7.93sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 7.93sINFOobjective_server_nodeLoaded robot model in 0.0327041 seconds[0m ×2 + 7.93sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 7.93sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.93sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.93sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 7.94sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 7.94sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 7.94sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.94sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.95sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 7.95sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 7.95sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.95sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 7.95sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 7.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.95sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.96sINFOros2_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 + 7.96sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.96sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199202 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199202 ms (missed cycles : 2).[0m ×2 + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.12sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.14sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.14sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 8.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 8.15sINFOros2-18process has finished cleanly [pid 8207] ×2 + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.20sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.23sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.23sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.23sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.25sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.25sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.25sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.25sINFOforce_torque_sensor_broadcasterconfigure successful + 8.26sINFOros2_control_nodeconfigure successful[0m ×8 + 8.26sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.26sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.26sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.26sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.33sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.44sWARNobjective_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. + 8.44sWARNobjective_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 + 8.44sWARNobjective_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. + 8.44sWARNobjective_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. + 8.44sWARNobjective_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. + 8.44sWARNobjective_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 + 8.44sWARNobjective_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 + 8.44sWARNobjective_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. + 8.45sWARNobjective_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 + 8.45sWARNobjective_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. + 8.45sWARNobjective_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 + 8.45sWARNobjective_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 + 8.45sWARNobjective_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. + 8.45sWARNobjective_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 + 8.45sWARNobjective_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. + 8.45sWARNobjective_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 + 8.45sWARNobjective_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. + 8.45sWARNobjective_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 + 8.45sWARNobjective_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. + 8.45sWARNobjective_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 + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.48sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.55sINFOobjective_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 + 8.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.58sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.58sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.61sINFOros2-14process has finished cleanly [pid 8201] ×2 + 8.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.62sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 8.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 8.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 8.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 8.64sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.64sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.68sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 8.68sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 8.68sINFOcomponent_container_mtLoaded robot model in 0.355626 seconds[0m ×2 + 8.68sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.68sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.69sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 8.69sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 8.69sINFOplatform_velocity_controller_nav2configure successful + 8.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030799 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030799 ms (missed cycles : 2).[0m ×2 + 9.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.11sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.11sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.12sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.12sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sINFOros2-19process has finished cleanly [pid 8208] ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.13sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 9.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 9.25sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.26sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.28sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.34sINFOcomponent_container_mt[2026-11-11 18:24:58.970] [moveit_pro_license] [info] ×2 + 9.34sINFOcomponent_container_mt************************************************* ×4 + 9.34sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.34sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.41sINFOplanning_scene_server ×4 + 9.41sINFOplanning_scene_server[92mYou can start planning now![0m ×2 + 9.70sINFOros2_control_node[2026-11-11 18:24:59.332] [info] Controller state will be published at 20 Hz. ×2 + 9.70sINFOros2_control_node[2026-11-11 18:24:59.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.71sWARNros2_control_nodeCamera render tick took 0.89 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 + 9.71sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.71sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.71sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.71sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.72sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.72sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.03sINFOros2-24process has finished cleanly [pid 8215] ×2 + 10.04sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.04sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.04sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.04sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.04sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 10.04sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 10.09sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.09sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.10sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.10sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.10sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.11sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228420 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228420 ms (missed cycles : 2).[0m ×2 + 10.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 10.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 10.42sINFOlocal_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. ×5 + 10.43sINFOros2-15process has finished cleanly [pid 8202] ×2 + 10.50sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.50sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.50sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.50sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.51sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.51sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.51sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.71sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1794421498.453 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.79sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.79sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.79sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.79sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 10.79sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.79sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 10.82sINFOros2-21process has finished cleanly [pid 8210] ×2 + 10.84sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.84sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.86sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.86sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489719 ms (missed cycles : 4). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489719 ms (missed cycles : 4).[0m ×2 + 11.20sINFOros2_control_node[2026-11-11 18:25:00.831] [info] Controller state will be published at 20 Hz. ×2 + 11.20sINFOros2_control_node[2026-11-11 18:25:00.832] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.51sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.51sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.51sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.53sINFOros2-25process has finished cleanly [pid 8261] ×2 + 11.58sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 11.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 11.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.97sINFOros2_control_node[2026-11-11 18:25:01.598] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.97sINFOros2_control_node[2026-11-11 18:25:01.600] [info] Controller state will be published at 10 Hz. ×2 + 11.97sINFOros2_control_node[2026-11-11 18:25:01.601] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.07sWARNobjective_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 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685617 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685617 ms (missed cycles : 2).[0m ×2 + 12.28sINFOcontroller_managerLoading controller : 'platform_velocity_controller_base_jog' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.28sINFOcontroller_managerLoading controller 'platform_velocity_controller_base_jog' + 12.28sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_base_jog' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.28sINFOcontroller_managerController 'platform_velocity_controller_base_jog' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 12.28sINFOros2_control_nodeLoading controller 'platform_velocity_controller_base_jog'[0m ×2 + 12.28sINFOros2_control_nodeController 'platform_velocity_controller_base_jog' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 12.30sINFOros2-22process has finished cleanly [pid 8211] ×2 + 12.35sINFOspawner_platform_velocity_controller_base_jog[94mLoaded [1mplatform_velocity_controller_base_jog[0m + 12.35sINFOros2[94mLoaded [1mplatform_velocity_controller_base_jog[0m[0m ×2 + 12.35sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_base_jog' + 12.35sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_base_jog'[0m ×2 + 12.36sINFOplatform_velocity_controller_base_jogconfigure successful + 12.67sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.67sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.67sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.67sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.68sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 12.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 12.70sINFOros2-20process has finished cleanly [pid 8209] ×2 + 12.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.75sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.92sINFOlocal_costmap.local_costmapstart + 13.02sWARNcontroller_serverParameter controller_server.verbose not found + 13.02sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.07sINFOros2-16process has finished cleanly [pid 8203] ×2 + 13.08sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.08sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.08sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.08sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.08sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 13.08sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 13.13sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.13sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.13sINFOsmoother_serverActivating + 13.13sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.14sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.14sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.14sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.14sINFOplatform_velocity_controllerconfigure successful + 13.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.15sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 13.15sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867387 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867387 ms (missed cycles : 2).[0m ×2 + 13.24sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1794421502.123 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.24sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.24sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.24sINFOplanner_serverActivating + 13.24sINFOglobal_costmap.global_costmapActivating + 13.24sINFOglobal_costmap.global_costmapChecking transform + 13.24sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 13.37sINFOamclParticle filter update iteration stats: 1703 particles 811 points - 22.548ms + 13.47sINFOros2-17process has finished cleanly [pid 8205] ×2 + 13.49sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1794421501.681 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.50sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.50sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.50sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.50sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a + 13.50sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.50sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pxmzmxbm --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_too7vye4 --params-file /tmp/launch_params_y7tqq57a [0m ×2 + 13.55sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.55sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.55sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.56sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.74sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1794421503.356052, but only time 1794421503.566293 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.94sINFOros2_control_node[2026-11-11 18:25:03.576] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.95sINFOros2_control_node[2026-11-11 18:25:03.578] [info] Controller state will be published at 10 Hz. ×2 + 13.95sINFOros2_control_node[2026-11-11 18:25:03.580] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.24sINFOglobal_costmap.global_costmapstart + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662439 ms (missed cycles : 3). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662439 ms (missed cycles : 3).[0m ×2 + 14.26sINFOros2-23process has finished cleanly [pid 8214] ×2 + 15.29sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.29sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651994 ms (missed cycles : 3). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651994 ms (missed cycles : 3).[0m ×2 + 15.40sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.40sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.40sINFObehavior_serverActivating + 15.40sINFObehavior_serverActivating spin + 15.40sINFObehavior_serverActivating backup + 15.40sINFObehavior_serverActivating drive_on_heading + 15.40sINFObehavior_serverActivating assisted_teleop + 15.40sINFObehavior_serverActivating wait + 15.40sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.50sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.50sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.50sINFObt_navigatorActivating + 15.58sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.68sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.68sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.68sINFOwaypoint_followerActivating + 15.68sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.79sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.79sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.79sINFOvelocity_smootherActivating + 15.79sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.89sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.89sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.89sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728369 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728369 ms (missed cycles : 3).[0m ×2 + 16.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 16.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 16.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 16.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 16.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003669 ms (missed cycles : 4). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003669 ms (missed cycles : 4).[0m ×2 + 17.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611465 ms (missed cycles : 4). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611465 ms (missed cycles : 4).[0m ×2 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074879 ms (missed cycles : 2). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074879 ms (missed cycles : 2).[0m ×2 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179662 ms (missed cycles : 2). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179662 ms (missed cycles : 2).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3).[0m ×2 + 22.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 22.60sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 22.60sINFOobjective_server_nodeobjective_name: "" ×12 + 22.60sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 22.60sINFOobjective_server_node ×56 + 22.60sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.60sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 22.60sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 22.60sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 22.60sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 22.60sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 22.60sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 22.60sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 22.60sINFOobjective_server_node</Control> ×24 + 22.60sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 22.60sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 22.60sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.60sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 22.60sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 22.60sINFOobjective_server_nodeparameter_overrides: [] ×14 + 22.60sINFOobjective_server_nodecaller: ×14 + 22.60sINFOobjective_server_nodetype: 0 ×14 + 22.60sINFOobjective_server_nodename: "" ×14 + 22.60sINFOobjective_server_nodeinstance_id: "" ×14 + 22.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.27404690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.72sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.35442877 seconds ×3 + 22.78sINFOobjective_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: "" ×3 + 22.78sINFOobjective_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>" ×6 + 22.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 22.90sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 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=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 23.45sINFOobjective_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=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 23.49sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 23.58sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 23.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 24.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.29sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 24.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 24.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.57sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 25.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 25.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 25.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 25.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.16sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 25.16sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 25.16sINFOplanning_scene_serverClearing octomap...[0m ×2 + 25.16sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 25.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 25.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 25.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3
✓ 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 2.074879 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074879 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179662 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179662 ms (missed cycles : 2).[0m ×2 + 1.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.99sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_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: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 3.06sINFOobjective_server_nodeobjective_name: "" ×12 + 3.06sINFOobjective_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 + 3.06sINFOobjective_server_node ×60 + 3.06sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.06sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.06sINFOobjective_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 + 3.06sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.06sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.06sINFOobjective_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 + 3.06sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.06sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.06sINFOobjective_server_node</Control> ×24 + 3.06sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.06sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.06sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.06sINFOobjective_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 + 3.06sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×18 + 3.06sINFOobjective_server_nodecaller: ×18 + 3.06sINFOobjective_server_nodetype: 0 ×18 + 3.06sINFOobjective_server_nodename: "" ×18 + 3.06sINFOobjective_server_nodeinstance_id: "" ×18 + 3.10sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.27404690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.35442877 seconds ×3 + 3.24sINFOobjective_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 + 3.24sINFOobjective_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 + 3.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 3.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.91sINFOobjective_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 + 3.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 4.04sINFOobjective_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 + 4.11sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 4.75sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.58sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 5.62sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 5.62sINFOplanning_scene_serverClearing octomap...[0m ×2 + 5.62sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 5.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.17sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 6.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3
✓ passed	—	hover_fails	0.8s	6 errors · 21 warnings · 691 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179662 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179662 ms (missed cycles : 2).[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3).[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 1.94sINFOobjective_server_nodeobjective_name: "" ×12 + 1.94sINFOobjective_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 + 1.94sINFOobjective_server_node ×62 + 1.94sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.94sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.94sINFOobjective_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 + 1.94sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.94sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.94sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.94sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.94sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.94sINFOobjective_server_node</Control> ×24 + 1.94sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.94sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.94sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.94sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.94sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×20 + 1.94sINFOobjective_server_nodecaller: ×20 + 1.94sINFOobjective_server_nodetype: 0 ×20 + 1.94sINFOobjective_server_nodename: "" ×20 + 1.94sINFOobjective_server_nodeinstance_id: "" ×20 + 1.99sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.27404690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.35442877 seconds ×3 + 2.13sINFOobjective_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 + 2.13sINFOobjective_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 + 2.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.80sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 2.93sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_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=\"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: "" + 3.64sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.68sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.46sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 4.50sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 4.50sINFOplanning_scene_serverClearing octomap...[0m ×2 + 4.50sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 4.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.10sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3
✓ passed	—	release_fails	0.8s	6 errors · 21 warnings · 741 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.08sINFOobjective_server_nodeobjective_name: "" ×12 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node ×64 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.08sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.08sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.08sINFOobjective_server_node</Control> ×24 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.08sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.08sINFOobjective_server_nodecaller: ×22 + 1.08sINFOobjective_server_nodetype: 0 ×22 + 1.08sINFOobjective_server_nodename: "" ×22 + 1.08sINFOobjective_server_nodeinstance_id: "" ×22 + 1.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.27404690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.35442877 seconds ×3 + 1.26sINFOobjective_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 + 1.26sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 2.06sINFOobjective_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 + 2.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 3.64sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 3.64sINFOplanning_scene_serverClearing octomap...[0m ×2 + 3.64sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 3.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.65sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[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 6.611465 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611465 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074879 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074879 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179662 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179662 ms (missed cycles : 2).[0m ×2 + 3.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×14 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 3.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 3.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.11sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 4.11sINFOobjective_server_nodeobjective_name: "" ×12 + 4.11sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 4.11sINFOobjective_server_node ×58 + 4.11sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 4.11sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 4.11sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 4.11sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 4.11sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 4.11sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 4.11sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 4.11sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 4.11sINFOobjective_server_node</Control> ×24 + 4.11sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 4.11sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 4.11sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 4.11sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.11sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 4.11sINFOobjective_server_nodeparameter_overrides: [] ×16 + 4.11sINFOobjective_server_nodecaller: ×16 + 4.11sINFOobjective_server_nodetype: 0 ×16 + 4.11sINFOobjective_server_nodename: "" ×16 + 4.11sINFOobjective_server_nodeinstance_id: "" ×16 + 4.15sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.27404690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.35442877 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 4.29sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 4.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 5.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 5.09sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 5.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 5.80sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 6.01sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 6.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 6.67sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 6.67sINFOplanning_scene_serverClearing octomap...[0m ×2 + 6.67sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 6.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 7.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.22sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.27sINFOvacuum_gripperReceived & accepted new action goal + 7.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3

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

15 pass27 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	72.7s	3 errors · 244 warnings · 281 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.101ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001455 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001455 ms (missed cycles : 2).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.406ms + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736580 ms (missed cycles : 5). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736580 ms (missed cycles : 5).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.770ms + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.758ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027186 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027186 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOjoint_trajectory_controllerGot request to cancel goal + 2.57sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.57sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.58sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1794421730.72408843 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 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOstate_estimatorReceived a set_pose request (stamp: 1794421730742202837, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.908ms + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1794421731.32204676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014364 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014364 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940258 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940258 ms (missed cycles : 2).[0m ×2 + 4.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.85sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.85sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.85sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567325, y=-0.0171841, yaw=-0.0184047 + 5.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.819ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311619 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311619 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659407 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659407 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865663 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865663 ms (missed cycles : 3).[0m ×2 + 8.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.399ms + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600174 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600174 ms (missed cycles : 3).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.031ms + 9.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.361ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193384 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193384 ms (missed cycles : 2).[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.802ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147585 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147585 ms (missed cycles : 2).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.912ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411218 ms (missed cycles : 4). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411218 ms (missed cycles : 4).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.538ms + 12.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.527ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489709 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489709 ms (missed cycles : 4).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.688ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599890 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599890 ms (missed cycles : 3).[0m ×2 + 14.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.864ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839797 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839797 ms (missed cycles : 3).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 15.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.765ms + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564320 ms (missed cycles : 4). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564320 ms (missed cycles : 4).[0m ×2 + 16.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.141ms + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023460 ms (missed cycles : 5). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023460 ms (missed cycles : 5).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.773ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.246ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155074 ms (missed cycles : 3). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155074 ms (missed cycles : 3).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.271ms + 19.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792609 ms (missed cycles : 3). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792609 ms (missed cycles : 3).[0m ×2 + 19.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.146ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.814ms + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101469 ms (missed cycles : 4). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101469 ms (missed cycles : 4).[0m ×2 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.589ms + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536226 ms (missed cycles : 4). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536226 ms (missed cycles : 4).[0m ×2 + 21.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.821ms + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173765 ms (missed cycles : 2). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173765 ms (missed cycles : 2).[0m ×2 + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.735ms + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.175ms + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084862 ms (missed cycles : 3). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084862 ms (missed cycles : 3).[0m ×2 + 24.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.606ms + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.191ms + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618350 ms (missed cycles : 4). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618350 ms (missed cycles : 4).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.859ms + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143967 ms (missed cycles : 2). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143967 ms (missed cycles : 2).[0m ×2 + 26.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.577ms + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.826ms + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312154 ms (missed cycles : 2). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312154 ms (missed cycles : 2).[0m ×2 + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.884ms + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112996 ms (missed cycles : 2). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112996 ms (missed cycles : 2).[0m ×2 + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.578ms + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648601 ms (missed cycles : 4). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648601 ms (missed cycles : 4).[0m ×2 + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.072ms + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521941 ms (missed cycles : 3). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521941 ms (missed cycles : 3).[0m ×2 + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.486ms ×2 + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796669 ms (missed cycles : 2). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796669 ms (missed cycles : 2).[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.308ms + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142484 ms (missed cycles : 2). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142484 ms (missed cycles : 2).[0m ×2 + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.545ms + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029483 ms (missed cycles : 3). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029483 ms (missed cycles : 3).[0m ×2 + 34.11sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.11sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730449 ms (missed cycles : 2). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730449 ms (missed cycles : 2).[0m ×2 + 35.03sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595410 ms (missed cycles : 4). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595410 ms (missed cycles : 4).[0m ×2 + 35.82sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 36.33sWARNros2_control_nodeCamera render tick took 0.50 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 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999646 ms (missed cycles : 3). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999646 ms (missed cycles : 3).[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157901 ms (missed cycles : 6). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157901 ms (missed cycles : 6).[0m ×2 + 38.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.380ms + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840718 ms (missed cycles : 3). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840718 ms (missed cycles : 3).[0m ×2 + 39.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.822ms + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.875ms + 40.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814381 ms (missed cycles : 2). + 40.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814381 ms (missed cycles : 2).[0m ×2 + 40.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.984ms + 40.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.266ms + 41.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059551 ms (missed cycles : 3). + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059551 ms (missed cycles : 3).[0m ×2 + 41.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.193ms + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019544 ms (missed cycles : 5). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019544 ms (missed cycles : 5).[0m ×2 + 43.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601751 ms (missed cycles : 3). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601751 ms (missed cycles : 3).[0m ×2 + 44.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.908ms + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510174 ms (missed cycles : 3). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510174 ms (missed cycles : 3).[0m ×2 + 45.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.572ms + 45.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942033 ms (missed cycles : 3). + 45.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942033 ms (missed cycles : 3).[0m ×2 + 45.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.002ms + 46.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.227ms + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006883 ms (missed cycles : 5). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006883 ms (missed cycles : 5).[0m ×2 + 46.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.325ms + 47.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.038ms + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262550 ms (missed cycles : 2). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262550 ms (missed cycles : 2).[0m ×2 + 47.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.727ms + 48.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.629ms + 48.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865616 ms (missed cycles : 2). + 48.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865616 ms (missed cycles : 2).[0m ×2 + 49.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.503ms + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569370 ms (missed cycles : 4). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569370 ms (missed cycles : 4).[0m ×2 + 50.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.161ms + 51.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.930430 ms (missed cycles : 5). + 51.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.930430 ms (missed cycles : 5).[0m ×2 + 51.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.247ms + 51.52sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186128 ms (missed cycles : 3). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186128 ms (missed cycles : 3).[0m ×2 + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677360 ms (missed cycles : 2). + 53.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677360 ms (missed cycles : 2).[0m ×2 + 54.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604977 ms (missed cycles : 3). + 54.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604977 ms (missed cycles : 3).[0m ×2 + 55.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857583 ms (missed cycles : 3). + 55.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857583 ms (missed cycles : 3).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.902ms + 56.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.084ms + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214364 ms (missed cycles : 5). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214364 ms (missed cycles : 5).[0m ×2 + 56.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.680ms + 57.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668567 ms (missed cycles : 3). + 57.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668567 ms (missed cycles : 3).[0m ×2 + 57.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.132ms + 58.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624018 ms (missed cycles : 5). + 58.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624018 ms (missed cycles : 5).[0m ×2 + 58.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.528ms + 58.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.963ms + 59.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.995ms + 59.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029821 ms (missed cycles : 2). + 59.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029821 ms (missed cycles : 2).[0m ×2 + 59.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.439ms + 60.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.644ms + 60.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620829 ms (missed cycles : 2). + 60.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620829 ms (missed cycles : 2).[0m ×2 + 61.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.650ms + 61.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330492 ms (missed cycles : 3). + 61.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330492 ms (missed cycles : 3).[0m ×2 + 61.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.479ms + 62.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040205 ms (missed cycles : 3). + 62.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040205 ms (missed cycles : 3).[0m ×2 + 63.07sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 63.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.094ms + 63.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961928 ms (missed cycles : 2). + 63.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961928 ms (missed cycles : 2).[0m ×2 + 64.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496957 ms (missed cycles : 4). + 64.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496957 ms (missed cycles : 4).[0m ×2 + 65.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133262 ms (missed cycles : 2). + 65.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133262 ms (missed cycles : 2).[0m ×2 + 66.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629097 ms (missed cycles : 3). + 66.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629097 ms (missed cycles : 3).[0m ×2 + 67.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.599ms + 68.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602553 ms (missed cycles : 2). + 68.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602553 ms (missed cycles : 2).[0m ×2 + 68.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.692ms + 68.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.948ms + 69.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952889 ms (missed cycles : 3). + 69.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952889 ms (missed cycles : 3).[0m ×2 + 69.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.273ms + 69.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.394ms + 70.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.854ms + 70.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299533 ms (missed cycles : 2). + 70.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299533 ms (missed cycles : 2).[0m ×2 + 70.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.290ms + 70.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.455ms + 71.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.339ms + 71.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433835 ms (missed cycles : 5). + 71.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433835 ms (missed cycles : 5).[0m ×2 + 71.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.338ms + 72.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.864ms + 72.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937935 ms (missed cycles : 3). + 72.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937935 ms (missed cycles : 3).[0m ×2 + 72.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.972ms + 72.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.784ms + 73.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309072 ms (missed cycles : 3). + 73.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309072 ms (missed cycles : 3).[0m ×2 + 73.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.019ms + 74.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441627 ms (missed cycles : 2). + 74.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441627 ms (missed cycles : 2).[0m ×2 + 75.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1794421803.43225646 seconds ×3 + 75.33sINFOstate_estimatorReceived a set_pose request (stamp: 1794421803447322364, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 75.51sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 14.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 75.51sWARNlocal_costmap.local_costmapSensor origin at (-3.24, 14.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 75.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565890 ms (missed cycles : 4). + 75.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565890 ms (missed cycles : 4).[0m ×2 + 75.71sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 75.71sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 75.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 75.84sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 75.89sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1794421804.02410817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.04sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.170ms + 76.05sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568411, y=-0.0171814, yaw=-0.0184019 + 76.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.742ms + 76.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900972 ms (missed cycles : 3). + 76.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900972 ms (missed cycles : 3).[0m ×2 + 77.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065025 ms (missed cycles : 2). + 77.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065025 ms (missed cycles : 2).[0m ×2 + 78.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 78.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.5s	200 warnings · 215 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.06sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.24sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.24sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152658 ms (missed cycles : 4). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.152658 ms (missed cycles : 4).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.594ms + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837641 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837641 ms (missed cycles : 2).[0m ×2 + 9.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.575ms + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831706 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831706 ms (missed cycles : 3).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.470ms + 10.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.161ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489114 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489114 ms (missed cycles : 3).[0m ×2 + 11.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.249ms + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649093 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649093 ms (missed cycles : 3).[0m ×2 + 12.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.625ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881848 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881848 ms (missed cycles : 3).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.369ms + 13.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.517ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063728 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063728 ms (missed cycles : 2).[0m ×2 + 14.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.360ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125416 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125416 ms (missed cycles : 3).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.777ms + 15.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.404ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855780 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855780 ms (missed cycles : 3).[0m ×2 + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.017ms + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917463 ms (missed cycles : 3). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917463 ms (missed cycles : 3).[0m ×2 + 17.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.580ms + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.349ms + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482404 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482404 ms (missed cycles : 2).[0m ×2 + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.459ms + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754513 ms (missed cycles : 3). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754513 ms (missed cycles : 3).[0m ×2 + 19.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.394ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714909 ms (missed cycles : 2). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714909 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.603ms + 21.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.137ms + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328344 ms (missed cycles : 2). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328344 ms (missed cycles : 2).[0m ×2 + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.412ms + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595900 ms (missed cycles : 4). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595900 ms (missed cycles : 4).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.963ms + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821985 ms (missed cycles : 2). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821985 ms (missed cycles : 2).[0m ×2 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.312ms + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.495ms + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449694 ms (missed cycles : 3). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449694 ms (missed cycles : 3).[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.234ms + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855175 ms (missed cycles : 2). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855175 ms (missed cycles : 2).[0m ×2 + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.704ms + 26.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.730ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381596 ms (missed cycles : 3). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381596 ms (missed cycles : 3).[0m ×2 + 27.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.973ms + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.720437 ms (missed cycles : 7). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.720437 ms (missed cycles : 7).[0m ×2 + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.144ms + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651219 ms (missed cycles : 4). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651219 ms (missed cycles : 4).[0m ×2 + 29.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.990ms + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.154ms + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161107 ms (missed cycles : 2). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161107 ms (missed cycles : 2).[0m ×2 + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.173ms + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954609 ms (missed cycles : 4). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954609 ms (missed cycles : 4).[0m ×2 + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.542ms + 32.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.770ms + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104153 ms (missed cycles : 2). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104153 ms (missed cycles : 2).[0m ×2 + 33.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.855ms + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.592773 ms (missed cycles : 5). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.592773 ms (missed cycles : 5).[0m ×2 + 33.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.512ms + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303196 ms (missed cycles : 5). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303196 ms (missed cycles : 5).[0m ×2 + 34.65sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.67sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677335 ms (missed cycles : 4). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677335 ms (missed cycles : 4).[0m ×2 + 36.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.992ms + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290091 ms (missed cycles : 2). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290091 ms (missed cycles : 2).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579883 ms (missed cycles : 3). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579883 ms (missed cycles : 3).[0m ×2 + 38.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.477ms + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667197 ms (missed cycles : 4). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667197 ms (missed cycles : 4).[0m ×2 + 39.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.031ms + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357625 ms (missed cycles : 2). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357625 ms (missed cycles : 2).[0m ×2 + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548700 ms (missed cycles : 3). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548700 ms (missed cycles : 3).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.574ms + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777596 ms (missed cycles : 2). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777596 ms (missed cycles : 2).[0m ×2 + 42.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.890ms + 43.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134406 ms (missed cycles : 2). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134406 ms (missed cycles : 2).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553298 ms (missed cycles : 2). + 44.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553298 ms (missed cycles : 2).[0m ×2 + 44.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.146ms + 45.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018835 ms (missed cycles : 2). + 45.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018835 ms (missed cycles : 2).[0m ×2 + 45.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.813ms + 46.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848503 ms (missed cycles : 2). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848503 ms (missed cycles : 2).[0m ×2 + 47.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489374 ms (missed cycles : 2). + 47.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489374 ms (missed cycles : 2).[0m ×2 + 48.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.430ms + 48.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915967 ms (missed cycles : 3). + 48.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915967 ms (missed cycles : 3).[0m ×2 + 49.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.732ms + 49.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167624 ms (missed cycles : 2). + 49.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167624 ms (missed cycles : 2).[0m ×2 + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825772 ms (missed cycles : 4). + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825772 ms (missed cycles : 4).[0m ×2 + 51.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.196ms + 51.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002566 ms (missed cycles : 2). + 51.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002566 ms (missed cycles : 2).[0m ×2 + 52.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.964ms + 52.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734975 ms (missed cycles : 5). + 52.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734975 ms (missed cycles : 5).[0m ×2 + 53.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275296 ms (missed cycles : 2). + 53.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275296 ms (missed cycles : 2).[0m ×2 + 54.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881728 ms (missed cycles : 3). + 54.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881728 ms (missed cycles : 3).[0m ×2 + 55.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.924ms + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761063 ms (missed cycles : 4). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761063 ms (missed cycles : 4).[0m ×2 + 56.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.864ms + 56.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029851 ms (missed cycles : 2). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029851 ms (missed cycles : 2).[0m ×2 + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387763 ms (missed cycles : 5). + 58.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387763 ms (missed cycles : 5).[0m ×2 + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220568 ms (missed cycles : 3). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220568 ms (missed cycles : 3).[0m ×2 + 59.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.413ms + 60.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718152 ms (missed cycles : 2). + 60.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718152 ms (missed cycles : 2).[0m ×2 + 60.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.531ms + 60.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1794421867.44886065 seconds ×3 + 60.61sINFOstate_estimatorReceived a set_pose request (stamp: 1794421867469508588, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.61sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 60.61sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 60.67sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-4.60, 5.60) to (0.38, 10.58). The costmap cannot raytrace for it. + 60.67sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-4.60, 5.60) to (0.38, 10.58). The costmap cannot raytrace for it. + 60.77sWARNlocal_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 + 60.77sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.752ms + 60.97sWARNlocal_costmap.local_costmapSensor origin at (-1.68, 8.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.97sWARNlocal_costmap.local_costmapSensor origin at (-2.58, 8.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 61.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 61.12sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1794421868.05400896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928099 ms (missed cycles : 3). + 61.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928099 ms (missed cycles : 3).[0m ×2 + 61.39sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.591ms + 61.39sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.39sINFOamclInitializing particles from estimated pose and covariance + 61.39sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.39sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568254, y=-0.0171818, yaw=-0.0184024 + 61.64sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 61.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.527ms + 61.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955444 ms (missed cycles : 3). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955444 ms (missed cycles : 3).[0m ×2 + 63.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929259 ms (missed cycles : 3). + 63.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929259 ms (missed cycles : 3).[0m ×2 + 64.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393047 ms (missed cycles : 4). + 64.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393047 ms (missed cycles : 4).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.4s	194 warnings · 228 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.975ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.229ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.968ms + 1.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.967ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883918 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883918 ms (missed cycles : 3).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.844ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.873ms + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.013ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997696 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997696 ms (missed cycles : 4).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.803ms + 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: 1794421568.13756418 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1794421568150753119, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.017ms + 3.33sINFOamclParticle filter update iteration stats: 1661 particles 811 points - 5.365ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245088 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245088 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1794421568.73318172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724559 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724559 ms (missed cycles : 3).[0m ×2 + 5.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.05sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.05sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 5.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.813ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825563 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825563 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.05sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649593 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649593 ms (missed cycles : 3).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693567 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693567 ms (missed cycles : 3).[0m ×2 + 8.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.934ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096252 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096252 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.236ms + 9.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.539ms + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384017 ms (missed cycles : 4). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384017 ms (missed cycles : 4).[0m ×2 + 10.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.530ms + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757148 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757148 ms (missed cycles : 2).[0m ×2 + 11.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.144ms + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968198 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968198 ms (missed cycles : 3).[0m ×2 + 11.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.391ms + 12.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.273ms + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912196 ms (missed cycles : 3). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912196 ms (missed cycles : 3).[0m ×2 + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.235ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673928 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673928 ms (missed cycles : 2).[0m ×2 + 14.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.563ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.940ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383645 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383645 ms (missed cycles : 2).[0m ×2 + 15.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.593ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720988 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720988 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.893ms + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650269 ms (missed cycles : 3). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650269 ms (missed cycles : 3).[0m ×2 + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.654ms + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.635ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421106 ms (missed cycles : 4). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421106 ms (missed cycles : 4).[0m ×2 + 18.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.973ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958824 ms (missed cycles : 3). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958824 ms (missed cycles : 3).[0m ×2 + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.361ms + 20.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.331ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881961 ms (missed cycles : 5). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881961 ms (missed cycles : 5).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.632ms + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704422 ms (missed cycles : 5). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704422 ms (missed cycles : 5).[0m ×2 + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.754ms + 22.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.909ms + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035541 ms (missed cycles : 4). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035541 ms (missed cycles : 4).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.904ms + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823438 ms (missed cycles : 3). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823438 ms (missed cycles : 3).[0m ×2 + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.805ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867634 ms (missed cycles : 2). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867634 ms (missed cycles : 2).[0m ×2 + 24.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.277ms + 25.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.491ms + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790461 ms (missed cycles : 2). + 25.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790461 ms (missed cycles : 2).[0m ×2 + 26.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.781ms + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742658 ms (missed cycles : 3). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742658 ms (missed cycles : 3).[0m ×2 + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.585ms + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.877ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626157 ms (missed cycles : 3). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626157 ms (missed cycles : 3).[0m ×2 + 28.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.916ms + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425957 ms (missed cycles : 3). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425957 ms (missed cycles : 3).[0m ×2 + 29.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.027ms + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815553 ms (missed cycles : 2). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815553 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.347ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.400ms + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833049 ms (missed cycles : 3). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833049 ms (missed cycles : 3).[0m ×2 + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.255ms + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208078 ms (missed cycles : 3). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208078 ms (missed cycles : 3).[0m ×2 + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.468ms + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628901 ms (missed cycles : 5). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628901 ms (missed cycles : 5).[0m ×2 + 33.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.787ms + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860358 ms (missed cycles : 3). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860358 ms (missed cycles : 3).[0m ×2 + 34.46sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.47sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.808ms + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666580 ms (missed cycles : 3). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666580 ms (missed cycles : 3).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080642 ms (missed cycles : 3). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080642 ms (missed cycles : 3).[0m ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400825 ms (missed cycles : 2). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400825 ms (missed cycles : 2).[0m ×2 + 37.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.881ms + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774487 ms (missed cycles : 2). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774487 ms (missed cycles : 2).[0m ×2 + 38.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.420ms + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016745 ms (missed cycles : 2). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016745 ms (missed cycles : 2).[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995297 ms (missed cycles : 2). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995297 ms (missed cycles : 2).[0m ×2 + 41.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.234ms + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061700 ms (missed cycles : 3). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061700 ms (missed cycles : 3).[0m ×2 + 42.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.385ms + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040844 ms (missed cycles : 3). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040844 ms (missed cycles : 3).[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954764 ms (missed cycles : 3). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954764 ms (missed cycles : 3).[0m ×2 + 44.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.893ms + 44.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941961 ms (missed cycles : 3). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941961 ms (missed cycles : 3).[0m ×2 + 45.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.429ms + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139490 ms (missed cycles : 4). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139490 ms (missed cycles : 4).[0m ×2 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392305 ms (missed cycles : 2). + 47.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392305 ms (missed cycles : 2).[0m ×2 + 47.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780004 ms (missed cycles : 3). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780004 ms (missed cycles : 3).[0m ×2 + 48.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.143ms + 49.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023515 ms (missed cycles : 3). + 49.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023515 ms (missed cycles : 3).[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225813 ms (missed cycles : 2). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225813 ms (missed cycles : 2).[0m ×2 + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729326 ms (missed cycles : 3). + 51.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729326 ms (missed cycles : 3).[0m ×2 + 51.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.968ms + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866933 ms (missed cycles : 3). + 52.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866933 ms (missed cycles : 3).[0m ×2 + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077428 ms (missed cycles : 3). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077428 ms (missed cycles : 3).[0m ×2 + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638328 ms (missed cycles : 3). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638328 ms (missed cycles : 3).[0m ×2 + 55.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.205ms + 56.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827239 ms (missed cycles : 3). + 56.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827239 ms (missed cycles : 3).[0m ×2 + 57.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146590 ms (missed cycles : 2). + 57.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146590 ms (missed cycles : 2).[0m ×2 + 58.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4). + 58.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4).[0m ×2 + 59.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3). + 59.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3).[0m ×2 + 59.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 60.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794421625.55334926 seconds ×3 + 60.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2). + 60.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2).[0m ×2 + 60.37sINFOstate_estimatorReceived a set_pose request (stamp: 1794421625578990866, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.43sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 60.43sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.88sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.93sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794421626.15331984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 61.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 61.33sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 61.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2). + 61.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2).[0m ×2 + 61.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.615ms + 61.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.13sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 62.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4). + 62.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4).[0m ×2 + 63.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3). + 63.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.0s	198 warnings · 230 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.506ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.597ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.453ms + 2.87sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.88sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794421664.75046921 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOstate_estimatorReceived a set_pose request (stamp: 1794421664769211624, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.398ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794421665.35370588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.673ms + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.74sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.74sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.524ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.22sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.22sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.22sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289099 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289099 ms (missed cycles : 3).[0m ×2 + 8.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.160ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.369078 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.369078 ms (missed cycles : 4).[0m ×2 + 9.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.589ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239608 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.239608 ms (missed cycles : 3).[0m ×2 + 9.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.950ms + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604150 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604150 ms (missed cycles : 3).[0m ×2 + 10.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.205ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.907ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186606 ms (missed cycles : 4). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186606 ms (missed cycles : 4).[0m ×2 + 12.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.288ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849954 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849954 ms (missed cycles : 3).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.708ms + 13.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.323ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238195 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238195 ms (missed cycles : 2).[0m ×2 + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.210ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477194 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477194 ms (missed cycles : 3).[0m ×2 + 15.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.716ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.479ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383706 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383706 ms (missed cycles : 2).[0m ×2 + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.428ms + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046140 ms (missed cycles : 4). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046140 ms (missed cycles : 4).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.136ms + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.689ms + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708572 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708572 ms (missed cycles : 3).[0m ×2 + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.505ms + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980920 ms (missed cycles : 3). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980920 ms (missed cycles : 3).[0m ×2 + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.813ms + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761903 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761903 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 21.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.712ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987405 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987405 ms (missed cycles : 3).[0m ×2 + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.417ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715685 ms (missed cycles : 3). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715685 ms (missed cycles : 3).[0m ×2 + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.192ms + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275065 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275065 ms (missed cycles : 2).[0m ×2 + 23.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.982ms + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548286 ms (missed cycles : 3). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548286 ms (missed cycles : 3).[0m ×2 + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.688ms + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.272ms + 25.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417870 ms (missed cycles : 3). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417870 ms (missed cycles : 3).[0m ×2 + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.198ms + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086745 ms (missed cycles : 5). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086745 ms (missed cycles : 5).[0m ×2 + 26.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.354ms + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.811ms + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845748 ms (missed cycles : 3). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845748 ms (missed cycles : 3).[0m ×2 + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.185ms + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413783 ms (missed cycles : 3). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413783 ms (missed cycles : 3).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.876ms + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613101 ms (missed cycles : 3). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613101 ms (missed cycles : 3).[0m ×2 + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.015ms + 30.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.327ms + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471553 ms (missed cycles : 3). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471553 ms (missed cycles : 3).[0m ×2 + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.151ms + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768408 ms (missed cycles : 3). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768408 ms (missed cycles : 3).[0m ×2 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.294ms + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199920 ms (missed cycles : 4). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199920 ms (missed cycles : 4).[0m ×2 + 33.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.524ms + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761907 ms (missed cycles : 3). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761907 ms (missed cycles : 3).[0m ×2 + 33.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.326ms + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278888 ms (missed cycles : 3). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278888 ms (missed cycles : 3).[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248940 ms (missed cycles : 2). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248940 ms (missed cycles : 2).[0m ×2 + 36.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476689 ms (missed cycles : 4). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476689 ms (missed cycles : 4).[0m ×2 + 37.44sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.09sINFOobjective_server_nodePlanning for 48 path waypoints. ×3 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.838843 ms (missed cycles : 5). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.838843 ms (missed cycles : 5).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236308 ms (missed cycles : 4). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236308 ms (missed cycles : 4).[0m ×2 + 39.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.820ms + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743846 ms (missed cycles : 3). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743846 ms (missed cycles : 3).[0m ×2 + 40.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.429ms + 41.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.683ms + 41.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962368 ms (missed cycles : 5). + 41.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962368 ms (missed cycles : 5).[0m ×2 + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.584ms + 42.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.963ms + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032172 ms (missed cycles : 5). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032172 ms (missed cycles : 5).[0m ×2 + 42.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.544ms + 43.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.942ms + 43.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115798 ms (missed cycles : 4). + 43.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115798 ms (missed cycles : 4).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470582 ms (missed cycles : 3). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470582 ms (missed cycles : 3).[0m ×2 + 45.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481015 ms (missed cycles : 3). + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481015 ms (missed cycles : 3).[0m ×2 + 46.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.575ms + 46.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.716ms + 46.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680158 ms (missed cycles : 3). + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680158 ms (missed cycles : 3).[0m ×2 + 47.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.454ms + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024406 ms (missed cycles : 2). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024406 ms (missed cycles : 2).[0m ×2 + 48.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.722ms + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040723 ms (missed cycles : 2). + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040723 ms (missed cycles : 2).[0m ×2 + 49.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.248ms + 50.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.607ms + 50.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198350 ms (missed cycles : 2). + 50.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198350 ms (missed cycles : 2).[0m ×2 + 50.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.806ms + 51.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843720 ms (missed cycles : 3). + 51.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843720 ms (missed cycles : 3).[0m ×2 + 51.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.011ms + 52.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432762 ms (missed cycles : 5). + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432762 ms (missed cycles : 5).[0m ×2 + 52.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.612ms + 53.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.944ms + 53.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296867 ms (missed cycles : 2). + 53.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296867 ms (missed cycles : 2).[0m ×2 + 54.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.406ms + 54.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796137 ms (missed cycles : 3). + 54.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796137 ms (missed cycles : 3).[0m ×2 + 55.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.919ms + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108598 ms (missed cycles : 3). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108598 ms (missed cycles : 3).[0m ×2 + 56.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870353 ms (missed cycles : 3). + 56.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870353 ms (missed cycles : 3).[0m ×2 + 56.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.893ms + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227360 ms (missed cycles : 2). + 57.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227360 ms (missed cycles : 2).[0m ×2 + 57.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1794421719.71398497 seconds ×3 + 57.91sINFOstate_estimatorReceived a set_pose request (stamp: 1794421719734102600, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.01sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 11.09) is out of map bounds (-4.25, 5.90) to (0.73, 10.88). The costmap cannot raytrace for it. + 58.01sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.69) is out of map bounds (-4.25, 5.90) to (0.73, 10.88). The costmap cannot raytrace for it. + 58.11sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 11.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 58.11sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 58.28sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.525ms + 58.31sWARNlocal_costmap.local_costmapSensor origin at (-0.42, 3.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 58.31sWARNlocal_costmap.local_costmapSensor origin at (-1.29, 4.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 58.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 58.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.49sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1794421720.32946324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.69sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 34.364ms + 58.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568254, y=-0.0171818, yaw=-0.0184024 + 58.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488725 ms (missed cycles : 4). + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488725 ms (missed cycles : 4).[0m ×2 + 58.89sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 59.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 25.253ms + 60.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937943 ms (missed cycles : 2). + 60.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937943 ms (missed cycles : 2).[0m ×2 + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240534 ms (missed cycles : 2). + 61.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240534 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 424 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 0.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.97sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 2.97sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 2.97sINFOplanning_scene_serverClearing octomap...[0m ×2 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.97sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356630 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356630 ms (missed cycles : 4).[0m ×2 + 7.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.426ms + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875559 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875559 ms (missed cycles : 2).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608285 ms (missed cycles : 3). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608285 ms (missed cycles : 3).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794201 ms (missed cycles : 4). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794201 ms (missed cycles : 4).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163020 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163020 ms (missed cycles : 2).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521588 ms (missed cycles : 4). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521588 ms (missed cycles : 4).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392469 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392469 ms (missed cycles : 3).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915445 ms (missed cycles : 3). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915445 ms (missed cycles : 3).[0m ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705003 ms (missed cycles : 3). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705003 ms (missed cycles : 3).[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349670 ms (missed cycles : 3). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349670 ms (missed cycles : 3).[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908067 ms (missed cycles : 4). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908067 ms (missed cycles : 4).[0m ×2 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050916 ms (missed cycles : 4). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050916 ms (missed cycles : 4).[0m ×2 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737753 ms (missed cycles : 3). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737753 ms (missed cycles : 3).[0m ×2 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741869 ms (missed cycles : 3). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741869 ms (missed cycles : 3).[0m ×2 + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922723 ms (missed cycles : 2). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922723 ms (missed cycles : 2).[0m ×2 + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275479 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275479 ms (missed cycles : 2).[0m ×2 + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.892ms + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835859 ms (missed cycles : 2). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835859 ms (missed cycles : 2).[0m ×2 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344946 ms (missed cycles : 3). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344946 ms (missed cycles : 3).[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845433 ms (missed cycles : 3). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845433 ms (missed cycles : 3).[0m ×2 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762277 ms (missed cycles : 3). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762277 ms (missed cycles : 3).[0m ×2 + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817743 ms (missed cycles : 2). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817743 ms (missed cycles : 2).[0m ×2 + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646403 ms (missed cycles : 3). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646403 ms (missed cycles : 3).[0m ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599370 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599370 ms (missed cycles : 2).[0m ×2 + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061662 ms (missed cycles : 4). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061662 ms (missed cycles : 4).[0m ×2 + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422332 ms (missed cycles : 2). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422332 ms (missed cycles : 2).[0m ×2 + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428786 ms (missed cycles : 4). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.428786 ms (missed cycles : 4).[0m ×2 + 34.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886888 ms (missed cycles : 3). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886888 ms (missed cycles : 3).[0m ×2 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211270 ms (missed cycles : 2). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211270 ms (missed cycles : 2).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157800 ms (missed cycles : 3). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157800 ms (missed cycles : 3).[0m ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584383 ms (missed cycles : 2). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584383 ms (missed cycles : 2).[0m ×2 + 37.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.273ms + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924415 ms (missed cycles : 3). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924415 ms (missed cycles : 3).[0m ×2 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271705 ms (missed cycles : 3). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271705 ms (missed cycles : 3).[0m ×2 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999752 ms (missed cycles : 3). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999752 ms (missed cycles : 3).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674551 ms (missed cycles : 3). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674551 ms (missed cycles : 3).[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431986 ms (missed cycles : 3). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431986 ms (missed cycles : 3).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160336 ms (missed cycles : 2). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160336 ms (missed cycles : 2).[0m ×2 + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959820 ms (missed cycles : 3). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959820 ms (missed cycles : 3).[0m ×2 + 45.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270966 ms (missed cycles : 2). + 45.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270966 ms (missed cycles : 2).[0m ×2 + 46.56sINFOjoint_trajectory_controllerGoal reached, success! + 46.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1794421561.95426321 seconds ×3 + 46.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.64sINFOstate_estimatorReceived a set_pose request (stamp: 1794421561974209817, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460340 ms (missed cycles : 2). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460340 ms (missed cycles : 2).[0m ×2 + 47.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.16sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1794421562.54741287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.784ms + 47.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.20sINFOamclInitializing particles from estimated pose and covariance + 47.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569057, y=-0.0171797, yaw=-0.0183999 + 47.23sWARNobjective_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 + 47.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.106ms + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139366 ms (missed cycles : 2). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139366 ms (missed cycles : 2).[0m ×2 + 48.33sINFOobjective_server_nodeFound path in 0 iterations (4.2659e-05 s). ×2 + 48.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563464 ms (missed cycles : 3). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563464 ms (missed cycles : 3).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.053ms + 49.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.975ms + 50.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4). + 50.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4).[0m ×2 + 50.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.229ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	116 warnings · 181 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029159 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029159 ms (missed cycles : 2).[0m ×2 + 1.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.17sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1794421631.96347809 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596972 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596972 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965664 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965664 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1794421633.56027269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478866 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478866 ms (missed cycles : 5).[0m ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494556 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494556 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122228 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122228 ms (missed cycles : 4).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123458 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123458 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762571 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762571 ms (missed cycles : 3).[0m ×2 + 7.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.404ms + 8.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.702ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948013 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948013 ms (missed cycles : 2).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.776ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730517 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730517 ms (missed cycles : 3).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.796ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340273 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340273 ms (missed cycles : 3).[0m ×2 + 10.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.765ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631257 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631257 ms (missed cycles : 3).[0m ×2 + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.377ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476328 ms (missed cycles : 6). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476328 ms (missed cycles : 6).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.766ms + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.808ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574916 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574916 ms (missed cycles : 3).[0m ×2 + 14.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.745ms + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038770 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038770 ms (missed cycles : 3).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.802ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245507 ms (missed cycles : 4). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245507 ms (missed cycles : 4).[0m ×2 + 16.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.939ms + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.980ms + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516575 ms (missed cycles : 3). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516575 ms (missed cycles : 3).[0m ×2 + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.699ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916192 ms (missed cycles : 3). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916192 ms (missed cycles : 3).[0m ×2 + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.208ms + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.706ms + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631638 ms (missed cycles : 4). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631638 ms (missed cycles : 4).[0m ×2 + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.695ms + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871238 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871238 ms (missed cycles : 2).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.444ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778861 ms (missed cycles : 3). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778861 ms (missed cycles : 3).[0m ×2 + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.891ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.477ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617198 ms (missed cycles : 3). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617198 ms (missed cycles : 3).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.086ms + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778639 ms (missed cycles : 2). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778639 ms (missed cycles : 2).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.782ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.385ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654677 ms (missed cycles : 4). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654677 ms (missed cycles : 4).[0m ×2 + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.177ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644206 ms (missed cycles : 3). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644206 ms (missed cycles : 3).[0m ×2 + 26.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.580ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919048 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919048 ms (missed cycles : 2).[0m ×2 + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.146ms + 27.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.381ms + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890941 ms (missed cycles : 3). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890941 ms (missed cycles : 3).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.181ms + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849035 ms (missed cycles : 3). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849035 ms (missed cycles : 3).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.611ms + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785833 ms (missed cycles : 2). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785833 ms (missed cycles : 2).[0m ×2 + 30.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.133ms + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.561ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5).[0m ×2 + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.506ms + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3).[0m ×2 + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.597ms + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4). + 33.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4).[0m ×2 + 33.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.453ms + 33.96sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794421664.75046921 seconds ×3 + 33.99sINFOstate_estimatorReceived a set_pose request (stamp: 1794421664769211624, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.06sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 34.06sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 34.16sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.16sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2).[0m ×2 + 34.38sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.398ms + 34.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.50sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794421665.35370588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.78sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.673ms + 34.78sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 34.78sINFOamclInitializing particles from estimated pose and covariance + 34.78sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 34.78sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 34.96sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 35.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.524ms + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3).[0m ×2 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3).[0m ×2 + 37.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3). + 37.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.4s	85 warnings · 260 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387763 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387763 ms (missed cycles : 5).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220568 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220568 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.413ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718152 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718152 ms (missed cycles : 2).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.531ms + 2.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.50sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.50sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1794421867.44886065 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.57sINFOstate_estimatorReceived a set_pose request (stamp: 1794421867469508588, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.57sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 2.57sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-4.60, 5.60) to (0.38, 10.58). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-4.60, 5.60) to (0.38, 10.58). The costmap cannot raytrace for it. + 2.73sWARNlocal_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 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.752ms + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-1.68, 8.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-2.58, 8.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1794421868.05400896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928099 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928099 ms (missed cycles : 3).[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.591ms + 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 + 3.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568254, y=-0.0171818, yaw=-0.0184024 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.527ms + 3.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.95sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955444 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955444 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929259 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929259 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393047 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393047 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136935 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136935 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959259 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959259 ms (missed cycles : 3).[0m ×2 + 9.65sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.077513 ms (missed cycles : 5). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.077513 ms (missed cycles : 5).[0m ×2 + 9.69sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.73sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 9.84sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 10.00sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 10.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.39sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798589 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798589 ms (missed cycles : 3).[0m ×2 + 10.76sINFOobjective_server_nodeFound path in 33 iterations (0.0304992 s). ×2 + 11.27sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282602 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282602 ms (missed cycles : 2).[0m ×2 + 12.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.10sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 12.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992995 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992995 ms (missed cycles : 2).[0m ×2 + 12.98sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143441 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143441 ms (missed cycles : 3).[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299492 ms (missed cycles : 4). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299492 ms (missed cycles : 4).[0m ×2 + 15.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.116ms + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.062ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747129 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747129 ms (missed cycles : 2).[0m ×2 + 16.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.060ms + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419148 ms (missed cycles : 4). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419148 ms (missed cycles : 4).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.633ms + 18.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.891ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960580 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960580 ms (missed cycles : 2).[0m ×2 + 18.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1794421883.88757801 seconds ×3 + 19.01sINFOstate_estimatorReceived a set_pose request (stamp: 1794421883907411074, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537943 ms (missed cycles : 3). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537943 ms (missed cycles : 3).[0m ×2 + 19.51sINFOamclParticle filter update iteration stats: 1851 particles 811 points - 8.371ms + 19.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794421884.51988292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.61sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 19.61sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 19.61sINFOplanning_scene_serverClearing octomap...[0m ×2 + 19.61sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 19.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867440 ms (missed cycles : 2). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867440 ms (missed cycles : 2).[0m ×2 + 20.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794421885.73004103 seconds ×3 + 20.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 21.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570824, y=-0.0171758, yaw=-0.0183974 + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667863 ms (missed cycles : 3). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667863 ms (missed cycles : 3).[0m ×2 + 21.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.929ms + 21.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794421886.30625892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3).[0m ×2 + 22.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794421887.59642863 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.3s	120 errors · 35 warnings · 582 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.891ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960580 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960580 ms (missed cycles : 2).[0m ×2 + 0.94sINFOjoint_trajectory_controllerGoal reached, success! + 0.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1794421883.88757801 seconds ×3 + 0.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.99sINFOstate_estimatorReceived a set_pose request (stamp: 1794421883907411074, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537943 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537943 ms (missed cycles : 3).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1851 particles 811 points - 8.371ms + 1.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.50sINFOobjective_server_nodecaller: ×4 + 1.50sINFOobjective_server_nodetype: 0 ×4 + 1.50sINFOobjective_server_nodename: "" ×4 + 1.50sINFOobjective_server_nodeinstance_id: "" ×4 + 1.50sINFOobjective_server_node ×4 + 1.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794421884.51988292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 1.59sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 1.59sINFOplanning_scene_serverClearing octomap...[0m ×2 + 1.59sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867440 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867440 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794421885.73004103 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.11sINFOamclInitializing particles from estimated pose and covariance + 3.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570824, y=-0.0171758, yaw=-0.0183974 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667863 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667863 ms (missed cycles : 3).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.929ms + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794421886.30625892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794421887.59642863 seconds ×3 + 4.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786778 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786778 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822287 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822287 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745241 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745241 ms (missed cycles : 2).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783566 ms (missed cycles : 4). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783566 ms (missed cycles : 4).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673211 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673211 ms (missed cycles : 2).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149937 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149937 ms (missed cycles : 2).[0m ×2 + 10.97sERRORweb_video_auth_proxy-42process[web_video_auth_proxy-42] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORweb_bridge_auth_proxy-41process[web_bridge_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORvideo_server-40process[video_server-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORtf2_web_republisher_node-39process[tf2_web_republisher_node-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sINFOweb_video_auth_proxy-42sending signal 'SIGTERM' to process[web_video_auth_proxy-42] ×2 + 10.99sERRORjoint_state_visualization_relay-38process[joint_state_visualization_relay-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORweb_video_auth_proxy-42process has died [pid 8299, 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 + 10.99sINFOweb_bridge_auth_proxy-41sending signal 'SIGTERM' to process[web_bridge_auth_proxy-41] ×2 + 11.00sERRORtf_visualization_relay-37process[tf_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORweb_bridge_auth_proxy-41process has died [pid 8298, 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 + 11.00sERRORweb_bridge-36process[web_bridge-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORui_teleop_bridge-35process[ui_teleop_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORexecute_objective_bridge-34process[execute_objective_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORcomponent_container_mt-33process[component_container_mt-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORobjective_server_node_main-31process[objective_server_node_main-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORmove_end_effector_resampler_node-30process[move_end_effector_resampler_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORmove_joint_resampler_node-29process[move_joint_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORwaypoint_manager_node-28process[waypoint_manager_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORparameter_manager_node-27process[parameter_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORplanning_scene_server-26process[planning_scene_server-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sINFOvideo_server-40sending signal 'SIGTERM' to process[video_server-40] ×2 + 11.04sINFOtf2_web_republisher_node-39sending signal 'SIGTERM' to process[tf2_web_republisher_node-39] ×2 + 11.05sINFOjoint_state_visualization_relay-38sending signal 'SIGTERM' to process[joint_state_visualization_relay-38] ×2 + 11.07sINFOvideo_server-40process has finished cleanly [pid 8297] ×2 + 11.07sINFOtf_visualization_relay-37sending signal 'SIGTERM' to process[tf_visualization_relay-37] ×2 + 11.08sINFOlaunchprocess[web_bridge_auth_proxy-41] was required: shutting down launched system ×2 + 11.08sINFOweb_bridge-36sending signal 'SIGTERM' to process[web_bridge-36] ×2 + 11.09sINFOui_teleop_bridge-35sending signal 'SIGTERM' to process[ui_teleop_bridge-35] ×2 + 11.10sINFOexecute_objective_bridge-34sending signal 'SIGTERM' to process[execute_objective_bridge-34] ×2 + 11.11sINFOcomponent_container_mt-33sending signal 'SIGTERM' to process[component_container_mt-33] ×2 + 11.12sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 11.14sINFOobjective_server_node_main-31sending signal 'SIGTERM' to process[objective_server_node_main-31] ×2 + 11.15sINFOmove_end_effector_resampler_node-30sending signal 'SIGTERM' to process[move_end_effector_resampler_node-30] ×2 + 11.16sINFOmove_joint_resampler_node-29sending signal 'SIGTERM' to process[move_joint_resampler_node-29] ×2 + 11.18sINFOwaypoint_manager_node-28sending signal 'SIGTERM' to process[waypoint_manager_node-28] ×2 + 11.19sINFOparameter_manager_node-27sending signal 'SIGTERM' to process[parameter_manager_node-27] ×2 + 11.21sINFOplanning_scene_server-26sending signal 'SIGTERM' to process[planning_scene_server-26] ×2 + 11.22sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 11.22sINFOcontroller_managerShutdown request received.... + 11.22sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.23sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.23sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.23sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.23sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.23sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.23sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.23sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.23sINFOcontroller_managerShutting down controller 'platform_velocity_controller_base_jog' + 11.23sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.23sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.23sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.23sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.23sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.23sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.23sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.23sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.23sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.23sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.23sINFOcontroller_managerShutting down the controller manager. + 11.24sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 11.26sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 11.27sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 11.27sERRORplanning_scene_server-26process has died [pid 8262, exit code -6, cmd '/opt/overlay_ws/install/moveit_pro_planning_scene_server/lib/moveit_pro_planning_scene_server/planning_scene_server --ros-args --log-level info --ros-args --params-file /tmp/launch_params_1l2wl2vq --params-file /tmp/launch_params__qs9lb1s --params-file /tmp/launch_params_xvghdxmf --params-file /tmp/launch_params_owdfmfzs --params-file /tmp/launch_params_ilhswssk']. ×2 + 11.28sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.30sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.31sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.32sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 11.33sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 11.34sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 11.36sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.37sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.37sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.37sINFOmap_serverDeactivating + 11.37sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.38sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.38sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.38sINFOcontroller_serverDeactivating + 11.38sINFOlocal_costmap.local_costmapDeactivating + 11.38sINFOvideo_server2026/11/11 18:31:33 INF shutting down gracefully ×2 + 11.38sINFOvideo_server2026/11/11 18:31:33 INF [WebRTC] closing ×2 + 11.38sINFOvideo_server2026/11/11 18:31:33 INF [RTSP] closing ×2 + 11.38sINFOvideo_server2026/11/11 18:31:33 INF waiting for running hooks ×2 + 11.38sINFOmap_serverCleaning up + 11.38sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.38sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.38sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.38sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.38sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.38sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOplanning_scene_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sERRORplanning_scene_serverterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.38sERRORplanning_scene_serverwhat(): context cannot be slept with because it's invalid ×2 + 11.38sERRORplanning_scene_serverStack trace (most recent call last) in thread 8952: ×2 + 11.38sINFOplanning_scene_server#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.38sINFOplanning_scene_server#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcde5dc1cc3, in __clone ×2 + 11.38sINFOplanning_scene_server#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcde5d34b83, in ×2 + 11.38sINFOplanning_scene_server#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcde5fc5db3, in ×2 + 11.38sINFOplanning_scene_server#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7fcde6eab3a4, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.38sINFOplanning_scene_server#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcde64e2620, in rclcpp::Rate::sleep() ×2 + 11.38sINFOplanning_scene_server#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcde6424d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.38sINFOplanning_scene_server#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcde63e6087, in ×2 + 11.38sINFOplanning_scene_server#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcde5f94390, in __cxa_throw ×2 + 11.38sINFOplanning_scene_server#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcde5f7ea54, in std::terminate() ×2 + 11.38sINFOplanning_scene_server#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcde5f940d9, in ×2 + 11.38sINFOplanning_scene_server#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcde5f7eff4, in ×2 + 11.38sINFOplanning_scene_server#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcde5cc08fe, in abort ×2 + 11.38sINFOplanning_scene_server#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcde5cdd27d, in raise ×2 + 11.38sINFOplanning_scene_server#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcde5d36c0c, in pthread_kill ×2 + 11.38sERRORplanning_scene_serverAborted (Signal sent by tkill() 8262 0) ×2 + 11.38sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.38sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_base_jog'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.39sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.39sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.39sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.39sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.39sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.39sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.39sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.39sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.39sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.39sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.39sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.39sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.39sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.39sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.39sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.39sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.39sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.39sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.39sERRORamclThe bond connection to the lifecycle manager has been broken + 11.42sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.43sINFOcontroller_serverCleaning up + 11.43sINFOlocal_costmap.local_costmapCleaning up + 11.44sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.44sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.47sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.47sINFOsmoother_serverDeactivating + 11.47sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.48sINFOsmoother_serverCleaning up + 11.51sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.51sINFOplanner_serverDeactivating + 11.51sINFOglobal_costmap.global_costmapDeactivating + 11.59sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.59sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.59sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.59sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.59sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.59sINFOvelocity_smootherDeactivating + 11.59sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.80sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.80sINFOwaypoint_followerDeactivating + 11.80sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.94sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.94sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.95sINFOplanner_serverCleaning up + 11.97sINFOglobal_costmap.global_costmapCleaning up + 11.98sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.98sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.99sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.99sINFObt_navigatorDeactivating + 11.99sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.01sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.01sINFObehavior_serverDeactivating + 12.01sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.02sINFObehavior_serverCleaning up + 12.02sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.02sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.02sINFOwaypoint_followerCleaning up + 12.03sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.03sINFOvelocity_smootherCleaning up + 12.03sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.10sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.10sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.10sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 12.10sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.10sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.10sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.10sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.10sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.10sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.10sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.10sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 12.10sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.11sINFOtf2_web_republisher_node-39process has finished cleanly [pid 8296] ×2 + 12.11sINFOlaunchprocess[tf2_web_republisher_node-39] was required: shutting down launched system ×2 + 12.11sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.12sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 12.12sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 12.12sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 12.12sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.12sINFOtf_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 + 12.12sINFOtf_visualization_relayrclpy.spin(node) ×2 + 12.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.12sINFOtf_visualization_relayexecutor.spin_once() ×2 + 12.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.12sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.12sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.12sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.12sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 12.12sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.12sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 12.12sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.16sERRORjoint_state_visualization_relay-38process has died [pid 8289, 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_giv9bkfv']. ×2 + 12.16sINFOlaunchprocess[joint_state_visualization_relay-38] was required: shutting down launched system ×2 + 12.17sERRORtf_visualization_relay-37process has died [pid 8282, 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_vmu5ujw1']. ×2 + 12.18sINFOlaunchprocess[tf_visualization_relay-37] was required: shutting down launched system ×2 + 12.20sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.20sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.20sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.20sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.20sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.20sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.20sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.20sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.20sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.21sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.21sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.21sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.22sINFOui_teleop_bridge-35process has finished cleanly [pid 8278] ×2 + 12.23sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.23sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.23sINFObt_navigatorCleaning up + 12.23sINFOexecute_objective_bridge-34process has finished cleanly [pid 8277] ×2 + 12.23sINFOmove_end_effector_resampler_node-30process has finished cleanly [pid 8267] ×2 + 12.23sINFOmove_joint_resampler_node-29process has finished cleanly [pid 8265] ×2 + 12.28sINFOparameter_manager_node-27process has finished cleanly [pid 8263] ×2 + 12.31sINFOwaypoint_manager_node-28process has finished cleanly [pid 8264] ×2 + 12.31sINFOrelay-11process has finished cleanly [pid 8198] ×2 + 12.33sINFOobjective_server_node[2026-11-11 18:31:35.260] [moveit_pro_license] [critical] ×2 + 12.33sINFOobjective_server_node************************************************* ×4 + 12.33sINFOobjective_server_node* MoveIt Pro License ×2 + 12.33sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.33sINFOrelay-10process has finished cleanly [pid 8197] ×2 + 12.34sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8093] ×2 + 12.35sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8092] ×2 + 12.35sINFOcomponent_container_mt-33process has finished cleanly [pid 8276] ×2 + 12.36sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8199] ×2 + 12.36sINFOstatic_transform_publisher-7process has finished cleanly [pid 8091] ×2 + 12.37sINFOstatic_transform_publisher-6process has finished cleanly [pid 8090] ×2 + 12.38sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.38sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 12.38sINFOlidar_flattener.pymain() ×2 + 12.38sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 12.38sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.38sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.38sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.38sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.38sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.38sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.38sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.38sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.38sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.38sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.38sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.38sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.38sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.38sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.39sINFOcomponent_container_mt-32process has finished cleanly [pid 8270] ×2 + 12.40sINFOstatic_transform_publisher-3process has finished cleanly [pid 8087] ×2 + 12.40sINFObt_navigatorCompleted Cleaning up + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.40sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.40sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.40sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.40sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.40sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.42sERRORlidar_flattener.py-5process has died [pid 8089, 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_lav85khb']. ×2 + 12.54sINFOobjective_server_node_main-31process has finished cleanly [pid 8268] ×2 + 12.54sINFOlaunchprocess[objective_server_node_main-31] was required: shutting down launched system ×2 + 12.72sERRORcomponent_container_isolated-1process has died [pid 8085, 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_xkgqa6vy --params-file /tmp/launch_params_0i180vqn -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.38sINFOodom_world_drift-4process has finished cleanly [pid 8088] ×2 + 13.67sERRORcomponent_container_isolated-2process has died [pid 8086, 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_xkgqa6vy --params-file /tmp/launch_params_rx_vdvof -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.92sINFOweb_bridge-36process has finished cleanly [pid 8279] ×2 + 13.92sINFOlaunchprocess[web_bridge-36] was required: shutting down launched system ×2 + 14.01sINFOros2_control_node-13process has finished cleanly [pid 8200] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 68 warnings · 168 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.919ms + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108598 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108598 ms (missed cycles : 3).[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870353 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870353 ms (missed cycles : 3).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.893ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227360 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227360 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1794421719.71398497 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1794421719734102600, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 11.09) is out of map bounds (-4.25, 5.90) to (0.73, 10.88). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.69) is out of map bounds (-4.25, 5.90) to (0.73, 10.88). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 11.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.12sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.525ms + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-0.42, 3.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-1.29, 4.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1794421720.32946324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 34.364ms + 3.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 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 ×4 + 3.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568254, y=-0.0171818, yaw=-0.0184024 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488725 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488725 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 25.253ms + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937943 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937943 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240534 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240534 ms (missed cycles : 2).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471700 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471700 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.022ms + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830212 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830212 ms (missed cycles : 3).[0m ×2 + 8.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.114ms + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403569 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403569 ms (missed cycles : 3).[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.888ms + 10.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.988ms + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.178427 ms (missed cycles : 5). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.178427 ms (missed cycles : 5).[0m ×2 + 11.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.101ms + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001455 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001455 ms (missed cycles : 2).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.406ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736580 ms (missed cycles : 5). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736580 ms (missed cycles : 5).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.770ms + 13.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.758ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027186 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027186 ms (missed cycles : 2).[0m ×2 + 13.70sINFOobjective_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 + 13.71sINFOjoint_trajectory_controllerGot request to cancel goal + 13.71sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.71sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.71sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.72sERRORobjective_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: 1794421730.72408843 seconds ×3 + 13.75sINFOstate_estimatorReceived a set_pose request (stamp: 1794421730742202837, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.95sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.95sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.908ms + 14.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.32sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1794421731.32204676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014364 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014364 ms (missed cycles : 3).[0m ×2 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940258 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940258 ms (missed cycles : 2).[0m ×2 + 15.99sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567325, y=-0.0171841, yaw=-0.0184047 + 16.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.819ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311619 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311619 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	53 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 2.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794421625.55334926 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.22sINFOstate_estimatorReceived a set_pose request (stamp: 1794421625578990866, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794421626.15331984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.93sINFOamclInitializing particles from estimated pose and covariance + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.615ms + 3.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.99sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526074 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526074 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029159 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029159 ms (missed cycles : 2).[0m ×2 + 8.60sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1794421631.96347809 seconds ×3 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596972 ms (missed cycles : 3). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596972 ms (missed cycles : 3).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965664 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965664 ms (missed cycles : 3).[0m ×2 + 10.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.14sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1794421633.56027269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.61sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478866 ms (missed cycles : 5). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478866 ms (missed cycles : 5).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494556 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494556 ms (missed cycles : 3).[0m ×2 + 12.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122228 ms (missed cycles : 4). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122228 ms (missed cycles : 4).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.6s	51 warnings · 147 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937935 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937935 ms (missed cycles : 3).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.972ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.784ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309072 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309072 ms (missed cycles : 3).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.019ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441627 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441627 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.85sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1794421803.43225646 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1794421803447322364, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 14.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-3.24, 14.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565890 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565890 ms (missed cycles : 4).[0m ×2 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1794421804.02410817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.170ms + 3.61sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.61sINFOamclInitializing particles from estimated pose and covariance + 3.61sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568411, y=-0.0171814, yaw=-0.0184019 + 4.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.742ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900972 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900972 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065025 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065025 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 6.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 9.41sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 9.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.96sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.43sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	42 warnings · 166 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959820 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959820 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270966 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270966 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1794421561.95426321 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1794421561974209817, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460340 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460340 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1794421562.54741287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.784ms + 3.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.38sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.38sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569057, y=-0.0171797, yaw=-0.0183999 + 3.40sWARNobjective_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 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.106ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139366 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139366 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.2659e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.61sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.61sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.61sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.61sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563464 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563464 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.053ms + 6.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.975ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4).[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.229ms + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.968ms + 7.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.967ms + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883918 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883918 ms (missed cycles : 3).[0m ×2 + 7.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.844ms + 7.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.873ms + 8.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.013ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997696 ms (missed cycles : 4). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997696 ms (missed cycles : 4).[0m ×2 + 8.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.803ms + 8.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1794421568.13756418 seconds ×3 + 8.99sINFOstate_estimatorReceived a set_pose request (stamp: 1794421568150753119, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.017ms + 9.38sINFOamclParticle filter update iteration stats: 1661 particles 811 points - 5.365ms + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245088 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245088 ms (missed cycles : 2).[0m ×2 + 9.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.50sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1794421568.73318172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.97sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724559 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724559 ms (missed cycles : 3).[0m ×2 + 11.10sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 11.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.813ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825563 ms (missed cycles : 4). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825563 ms (missed cycles : 4).[0m ×2 + 12.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649593 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649593 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.8s	26 warnings · 126 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747129 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747129 ms (missed cycles : 2).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.060ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419148 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419148 ms (missed cycles : 4).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.633ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.891ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960580 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960580 ms (missed cycles : 2).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1794421883.88757801 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1794421883907411074, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537943 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537943 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1851 particles 811 points - 8.371ms + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794421884.51988292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 3.63sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 3.63sINFOplanning_scene_serverClearing octomap...[0m ×2 + 3.63sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 3.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867440 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867440 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794421885.73004103 seconds ×3 + 4.89sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.16sINFOamclInitializing particles from estimated pose and covariance + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570824, y=-0.0171758, yaw=-0.0183974 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667863 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667863 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.929ms + 5.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.37sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794421886.30625892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794421887.59642863 seconds ×3 + 6.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786778 ms (missed cycles : 3). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786778 ms (missed cycles : 3).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.8s	6 errors · 24 warnings · 727 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.67sINFOobjective_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: "" + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.67sINFOobjective_server_node</Control> ×16 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.67sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 0.80sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 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=\"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: "" + 1.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 1.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.38sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.38sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.38sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.39sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.39sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 7.59sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	Close Gripper	close_gripper.xml	0.6s	6 errors · 21 warnings · 817 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.00sINFOobjective_server_nodeobjective_name: "" ×12 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.00sINFOobjective_server_node ×68 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.00sINFOobjective_server_node</Control> ×24 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.00sINFOobjective_server_nodecaller: ×26 + 0.00sINFOobjective_server_nodetype: 0 ×26 + 0.00sINFOobjective_server_nodename: "" ×26 + 0.00sINFOobjective_server_nodeinstance_id: "" ×26 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.27404690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.35442877 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: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.85sINFOobjective_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: "" + 0.86sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 0.99sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.70sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.74sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 1.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.56sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.56sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.56sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 6.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 341 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 0.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.97sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 2.97sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 2.97sINFOplanning_scene_serverClearing octomap...[0m ×2 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.97sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356630 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356630 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959820 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959820 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270966 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270966 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1794421561.95426321 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1794421561974209817, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460340 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460340 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1794421562.54741287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.784ms + 3.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.38sINFOamclInitializing particles from estimated pose and covariance + 3.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.38sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569057, y=-0.0171797, yaw=-0.0183999 + 3.40sWARNobjective_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 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.106ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139366 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139366 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.2659e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOjoint_trajectory_controllerReceived new action goal + 4.61sINFOjoint_trajectory_controllerAccepted new action goal + 4.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563464 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563464 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.053ms + 6.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.975ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4).[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.229ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	24 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959820 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959820 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270966 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270966 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1794421561.95426321 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1794421561974209817, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460340 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460340 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1794421562.54741287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.784ms + 3.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.38sINFOamclInitializing particles from estimated pose and covariance + 3.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.38sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569057, y=-0.0171797, yaw=-0.0183999 + 3.40sWARNobjective_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 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.106ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139366 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139366 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.2659e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOjoint_trajectory_controllerReceived new action goal + 4.61sINFOjoint_trajectory_controllerAccepted new action goal + 4.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563464 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563464 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.053ms + 6.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.975ms + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4).[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.229ms
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 88 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.975ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066723 ms (missed cycles : 4).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.229ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.968ms + 1.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.967ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883918 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883918 ms (missed cycles : 3).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.844ms + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.873ms + 2.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.013ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997696 ms (missed cycles : 4). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997696 ms (missed cycles : 4).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.803ms + 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: 1794421568.13756418 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1794421568150753119, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.017ms + 3.33sINFOamclParticle filter update iteration stats: 1661 particles 811 points - 5.365ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245088 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245088 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1794421568.73318172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724559 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724559 ms (missed cycles : 3).[0m ×2 + 5.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.05sINFOamclInitializing particles from estimated pose and covariance + 5.05sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.05sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 5.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.813ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825563 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825563 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649593 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649593 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	32 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 2.17sINFOjoint_trajectory_controllerGoal reached, success! + 2.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794421625.55334926 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOstate_estimatorReceived a set_pose request (stamp: 1794421625578990866, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794421626.15331984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.93sINFOamclInitializing particles from estimated pose and covariance + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.615ms + 3.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.99sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	32 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 2.17sINFOjoint_trajectory_controllerGoal reached, success! + 2.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794421625.55334926 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOstate_estimatorReceived a set_pose request (stamp: 1794421625578990866, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794421626.15331984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.93sINFOamclInitializing particles from estimated pose and covariance + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.615ms + 3.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.99sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	32 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 2.17sINFOjoint_trajectory_controllerGoal reached, success! + 2.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794421625.55334926 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOstate_estimatorReceived a set_pose request (stamp: 1794421625578990866, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794421626.15331984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.93sINFOamclInitializing particles from estimated pose and covariance + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.615ms + 3.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.99sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	32 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 2.17sINFOjoint_trajectory_controllerGoal reached, success! + 2.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794421625.55334926 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOstate_estimatorReceived a set_pose request (stamp: 1794421625578990866, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794421626.15331984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.93sINFOamclInitializing particles from estimated pose and covariance + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.615ms + 3.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.99sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	32 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 2.17sINFOjoint_trajectory_controllerGoal reached, success! + 2.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794421625.55334926 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOstate_estimatorReceived a set_pose request (stamp: 1794421625578990866, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794421626.15331984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.93sINFOamclInitializing particles from estimated pose and covariance + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.615ms + 3.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.99sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 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	32 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 2.17sINFOjoint_trajectory_controllerGoal reached, success! + 2.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794421625.55334926 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOstate_estimatorReceived a set_pose request (stamp: 1794421625578990866, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794421626.15331984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.93sINFOamclInitializing particles from estimated pose and covariance + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.615ms + 3.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.99sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	32 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617649 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048694 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.479ms + 2.17sINFOjoint_trajectory_controllerGoal reached, success! + 2.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794421625.55334926 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029501 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOstate_estimatorReceived a set_pose request (stamp: 1794421625578990866, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.28sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-4.25, 4.20) to (0.73, 9.18). The costmap cannot raytrace for it. + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.38sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.58sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794421626.15331984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.498ms + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.93sINFOamclInitializing particles from estimated pose and covariance + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568436, y=-0.0171813, yaw=-0.0184018 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811449 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 33.615ms + 3.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.54sINFOjoint_trajectory_controllerReceived new action goal + 3.54sINFOjoint_trajectory_controllerAccepted new action goal + 3.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.99sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661593 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750155 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.506ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.597ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.453ms + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794421664.75046921 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOstate_estimatorReceived a set_pose request (stamp: 1794421664769211624, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.398ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794421665.35370588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.673ms + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.74sINFOamclInitializing particles from estimated pose and covariance + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.74sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.524ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3).[0m ×2
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.506ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.597ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.453ms + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794421664.75046921 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOstate_estimatorReceived a set_pose request (stamp: 1794421664769211624, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.398ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794421665.35370588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.673ms + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.74sINFOamclInitializing particles from estimated pose and covariance + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.74sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.524ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.506ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.597ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.453ms + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794421664.75046921 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOstate_estimatorReceived a set_pose request (stamp: 1794421664769211624, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.398ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794421665.35370588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.673ms + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.74sINFOamclInitializing particles from estimated pose and covariance + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.74sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.524ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398007 ms (missed cycles : 5).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.506ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176070 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.597ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002515 ms (missed cycles : 4).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.453ms + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794421664.75046921 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOstate_estimatorReceived a set_pose request (stamp: 1794421664769211624, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-5.00, 5.40) to (-0.02, 10.38). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219718 ms (missed cycles : 2).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.398ms + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794421665.35370588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 35.673ms + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.74sINFOamclInitializing particles from estimated pose and covariance + 3.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.74sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.524ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906239 ms (missed cycles : 3).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604613 ms (missed cycles : 3).[0m ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.22sINFOjoint_trajectory_controllerReceived new action goal + 6.22sINFOjoint_trajectory_controllerAccepted new action goal + 6.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960969 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[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: 1794421513.21605635 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: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.15sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.71sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.71sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.71sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.71sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.71sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.71sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.71sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.71sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.71sINFOobjective_server_node</Control> ×8 + 0.71sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.71sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.71sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.71sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.71sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.75sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 0.91sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 1.57sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 1.57sINFOplanning_scene_serverClearing octomap...[0m ×4 + 1.58sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206188 ms (missed cycles : 3).[0m ×2 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709340 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811819 ms (missed cycles : 5).[0m ×2 + 3.06sINFOjoint_trajectory_controllerGoal reached, success! + 3.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794421809.98873377 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377878 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794421810.58868957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320889 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220152 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.24sINFOjoint_trajectory_controllerReceived new action goal + 6.24sINFOjoint_trajectory_controllerAccepted new action goal + 6.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612583 ms (missed cycles : 4).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	23 warnings · 126 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747129 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747129 ms (missed cycles : 2).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.060ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419148 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419148 ms (missed cycles : 4).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.633ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.891ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960580 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960580 ms (missed cycles : 2).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1794421883.88757801 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1794421883907411074, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537943 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537943 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 1851 particles 811 points - 8.371ms + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794421884.51988292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 3.63sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 3.63sINFOplanning_scene_serverClearing octomap...[0m ×2 + 3.63sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 3.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867440 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867440 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794421885.73004103 seconds ×3 + 4.89sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.16sINFOamclInitializing particles from estimated pose and covariance + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570824, y=-0.0171758, yaw=-0.0183974 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667863 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667863 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.929ms + 5.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.37sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794421886.30625892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314536 ms (missed cycles : 3).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794421887.59642863 seconds ×3
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	3 errors · 21 warnings · 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 + 0.01sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.01sINFOobjective_server_nodecaller: ×18 + 0.01sINFOobjective_server_nodetype: 0 ×18 + 0.01sINFOobjective_server_nodename: "" ×18 + 0.01sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 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 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.87sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.87sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.87sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 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 + 1.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	6 errors · 21 warnings · 593 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 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: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.15sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.71sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.71sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.71sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.71sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.71sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.71sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.71sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.71sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.71sINFOobjective_server_node</Control> ×8 + 0.71sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.71sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.71sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.71sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.71sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.75sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 0.91sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 1.57sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 1.57sINFOplanning_scene_serverClearing octomap...[0m ×4 + 1.58sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 1.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_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 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.08sINFOjoint_trajectory_controllerReceived new action goal + 7.08sINFOjoint_trajectory_controllerAccepted new action goal + 7.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.08sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 830 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×22 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×24 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×44 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×48 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×24 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×24 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.08sINFOobjective_server_nodeobjective_name: "" ×12 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node ×66 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.08sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.08sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.08sINFOobjective_server_node</Control> ×24 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.08sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.08sINFOobjective_server_nodecaller: ×24 + 1.08sINFOobjective_server_nodetype: 0 ×24 + 1.08sINFOobjective_server_nodename: "" ×24 + 1.08sINFOobjective_server_nodeinstance_id: "" ×24 + 1.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.27404690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.35442877 seconds ×3 + 1.26sINFOobjective_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 + 1.26sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 2.06sINFOobjective_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 + 2.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 3.64sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 3.64sINFOplanning_scene_serverClearing octomap...[0m ×4 + 3.64sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 3.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.65sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 7.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.14sINFOobjective_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 + 7.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 7.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3
− skipped	—	addtovector.xml	0.0s	6 errors · 21 warnings · 741 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897260 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.08sINFOobjective_server_nodeobjective_name: "" ×12 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node ×64 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.08sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.08sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.08sINFOobjective_server_node</Control> ×24 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.08sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.08sINFOobjective_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 + 1.08sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.08sINFOobjective_server_nodecaller: ×22 + 1.08sINFOobjective_server_nodetype: 0 ×22 + 1.08sINFOobjective_server_nodename: "" ×22 + 1.08sINFOobjective_server_nodeinstance_id: "" ×22 + 1.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.27404690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.35442877 seconds ×3 + 1.26sINFOobjective_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 + 1.26sINFOobjective_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 + 1.30sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 2.06sINFOobjective_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 + 2.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 3.64sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 3.64sINFOplanning_scene_serverClearing octomap...[0m ×2 + 3.64sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 3.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.65sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 21 warnings · 724 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.67sINFOobjective_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: "" + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.67sINFOobjective_server_node</Control> ×16 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.67sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 0.80sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 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=\"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: "" + 1.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 1.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.38sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.38sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.38sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.39sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.39sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 21 warnings · 724 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.67sINFOobjective_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: "" + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.67sINFOobjective_server_node</Control> ×16 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.67sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 0.80sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 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=\"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: "" + 1.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 1.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.38sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.38sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.38sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.39sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.39sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 21 warnings · 724 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421512.45244932 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929309 ms (missed cycles : 3).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421512.53259706 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.67sINFOobjective_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: "" + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.67sINFOobjective_server_node</Control> ×16 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.67sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.12588310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421513.21605635 seconds ×3 + 0.80sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.27949047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421513.36964488 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949553 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=\"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: "" + 1.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"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 + 1.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 seconds ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.38sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.38sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.38sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.39sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.39sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	teleoperate.xml	0.0s	3 errors · 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 + 0.01sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.01sINFOobjective_server_nodecaller: ×18 + 0.01sINFOobjective_server_nodetype: 0 ×18 + 0.01sINFOobjective_server_nodename: "" ×18 + 0.01sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421513.96582937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794421514.06600475 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 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794421514.12817597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794421514.19832444 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.87sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.87sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.87sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 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 + 1.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2

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

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	24 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356630 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356630 ms (missed cycles : 4).[0m ×2

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 400 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335847 ms (missed cycles : 4).[0m ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.14sINFOobjective_server_nodecaller: ×14 + 0.14sINFOobjective_server_nodetype: 0 ×14 + 0.14sINFOobjective_server_nodename: "" ×14 + 0.14sINFOobjective_server_nodeinstance_id: "" ×14 + 0.14sINFOobjective_server_node ×14 + 0.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794421514.78696060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.18sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.18sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.18sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794421514.80711651 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794421515.38975620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794421515.44990015 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919851 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794421516.14719987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794421516.20734835 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116269 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794421516.90130782 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794421516.92146492 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794421517.50556278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794421517.65632272 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675522 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794421518.27594018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_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 + 3.68sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794421518.34611964 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368150 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794421518.93013978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854658 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488654 ms (missed cycles : 3).[0m ×2