90
Total objective tests
24
Objectives passed
0
Objectives failed
66
Objectives skipped
17.1s
Avg test time
100%
Objective pass rate
▾
(no parent)5 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 23.4s | 6 errors · 321 warnings · 1775 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/2026-11-11-23-38-53-820986-1fcd311ddff5-8037 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.28sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.28sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.30sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 4.31sINFOstatic_tf_lidar_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' + 4.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.34sINFOmap_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. + 4.34sINFOmap_serverCreating + 4.36sINFOcontroller_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. + 4.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.37sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.40sINFOcontroller_serverCreating controller server + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.43sINFOlocal_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. + 4.43sINFOlocal_costmap.local_costmapCreating Costmap + 4.44sINFOlifecycle_manager_localizationCreating + 4.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.47sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.48sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.48sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.48sINFOmap_serverConfiguring + 4.49sINFOsmoother_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. + 4.50sINFOsmoother_serverCreating smoother server + 4.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.52sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.53sINFOros2_control_node-13process started with pid [8202] ×2 + 4.53sINFOplanning_scene_server-26process started with pid [8264] ×2 + 4.53sINFOparameter_manager_node-27process started with pid [8265] ×2 + 4.53sINFOwaypoint_manager_node-28process started with pid [8266] ×2 + 4.53sINFOmove_joint_resampler_node-29process started with pid [8268] ×2 + 4.53sINFOmove_end_effector_resampler_node-30process started with pid [8269] ×2 + 4.53sINFOobjective_server_node_main-31process started with pid [8270] ×2 + 4.53sINFOcomponent_container_mt-32process started with pid [8271] ×2 + 4.53sINFOcomponent_container_mt-33process started with pid [8273] ×2 + 4.53sINFOexecute_objective_bridge-34process started with pid [8274] ×2 + 4.54sINFOui_teleop_bridge-35process started with pid [8275] ×2 + 4.54sINFOweb_bridge-36process started with pid [8276] ×2 + 4.54sINFOtf_visualization_relay-37process started with pid [8277] ×2 + 4.54sINFOjoint_state_visualization_relay-38process started with pid [8280] ×2 + 4.54sINFOtf2_web_republisher_node-39process started with pid [8281] ×2 + 4.54sINFOvideo_server-40process started with pid [8282] ×2 + 4.54sINFOweb_bridge_auth_proxy-41process started with pid [8283] ×2 + 4.54sINFOweb_video_auth_proxy-42process started with pid [8284] ×2 + 4.54sINFOcomponent_container_isolated-1process started with pid [8087] ×2 + 4.54sINFOcomponent_container_isolated-2process started with pid [8088] ×2 + 4.54sINFOstatic_transform_publisher-3process started with pid [8089] ×2 + 4.54sINFOodom_world_drift-4process started with pid [8090] ×2 + 4.54sINFOlidar_flattener.py-5process started with pid [8091] ×2 + 4.54sINFOstatic_transform_publisher-6process started with pid [8092] ×2 + 4.54sINFOstatic_transform_publisher-7process started with pid [8093] ×2 + 4.54sINFOscan_to_scan_filter_chain-8process started with pid [8094] ×2 + 4.54sINFOscan_to_scan_filter_chain-9process started with pid [8095] ×2 + 4.54sINFOrelay-10process started with pid [8199] ×2 + 4.54sINFOrelay-11process started with pid [8200] ×2 + 4.54sINFOfixed_lag_smoother_node-12process started with pid [8201] ×2 + 4.54sINFOplanner_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. + 4.56sINFOros2-14process started with pid [8203] ×2 + 4.56sINFOros2-15process started with pid [8204] ×2 + 4.56sINFOros2-16process started with pid [8205] ×2 + 4.56sINFOros2-17process started with pid [8206] ×2 + 4.56sINFOros2-18process started with pid [8207] ×2 + 4.56sINFOros2-19process started with pid [8208] ×2 + 4.56sINFOros2-20process started with pid [8210] ×2 + 4.56sINFOros2-21process started with pid [8211] ×2 + 4.56sINFOros2-22process started with pid [8212] ×2 + 4.56sINFOros2-23process started with pid [8213] ×2 + 4.56sINFOros2-24process started with pid [8219] ×2 + 4.56sINFOros2-25process started with pid [8263] ×2 + 4.58sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.58sINFOamclConfiguring + 4.58sINFOplanner_serverCreating + 4.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.61sINFOglobal_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. + 4.61sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.61sINFOmap_serverActivating + 4.61sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.62sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.62sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.62sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.62sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.62sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.62sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.62sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.62sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.63sINFOglobal_costmap.global_costmapCreating Costmap + 4.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.64sINFOstate_estimatorReceived a set_pose request (stamp: 1794440340175704614, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.64sINFOcontroller_managerupdate rate is 600 Hz + 4.64sINFOcontroller_managerOverruns handling is : enabled + 4.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.64sWARNcontroller_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. + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443982 ms (missed cycles : 3). + 4.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.67sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.67sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.67sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.67sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.67sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.67sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.67sWARNros2_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 + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443982 ms (missed cycles : 3).[0m ×2 + 4.70sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.72sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.72sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.72sINFOamclActivating + 4.72sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.72sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.73sINFObehavior_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. + 4.75sINFOamclSubscribed to map_topic: /map + 4.75sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.75sINFOamclCreated reinitialize_global_localization service + 4.75sINFOamclCreated request_nomotion_update service + 4.75sINFOamclA new map was received + 4.75sINFOamclInitializing particle filter instance + 4.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.86sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.88sINFObt_navigatorCreating + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.95sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.95sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.95sINFOwaypoint_followerCreating + 4.96sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.99sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.00sINFOvelocity_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. + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.05sINFOrobot_state_publisherRobot initialized + 5.05sINFOcontroller_managerReceived robot description from topic. + 5.05sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.05sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.06sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.06sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.07sINFOlifecycle_manager_navigationCreating + 5.08sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.09sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.09sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.09sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.09sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.10sINFOvideo_server2026/11/11 23:39:00 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.10sINFOvideo_server2026/11/11 23:39:00 INF configuration loaded from /tmp/moveit-webrtc-h_ez0dnc/mediamtx.yml ×2 + 5.10sINFOvideo_server2026/11/11 23:39:00 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.10sINFOvideo_server2026/11/11 23:39:00 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.11sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.16sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.16sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.16sINFOcontroller_serverConfiguring controller interface + 5.16sINFOcontroller_servergetting progress checker plugins.. + 5.16sINFOcontroller_servergetting goal checker plugins.. + 5.16sINFOcontroller_serverController frequency set to 20.0000Hz + 5.16sINFOlocal_costmap.local_costmapConfiguring + 5.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.16sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.17sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.19sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.22sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.22sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.23sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.23sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.25sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.25sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.25sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.25sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.26sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.28sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.29sWARNlaser_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. + 5.29sWARNscan_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 + 5.30sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.30sWARNlaser_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. + 5.31sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.31sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.32sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.32sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.33sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.35sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.35sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.36sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.37sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.37sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.37sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.38sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.40sINFOcontroller_serverOptimizer reset ×2 + 5.43sINFOcontroller_serverController Server has FollowPath controllers available. + 5.46sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.46sINFOsmoother_serverConfiguring smoother server + 5.49sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.49sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.51sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.51sINFOplanner_serverConfiguring + 5.51sINFOglobal_costmap.global_costmapConfiguring + 5.53sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.54sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.54sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.54sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.56sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.64sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.64sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.65sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.69sINFOamclParticle filter initialization completed + 5.69sINFOamclInitializing particles from estimated pose and covariance + 5.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959937 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959937 ms (missed cycles : 2).[0m ×2 + 5.72sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.72sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.72sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.73sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.73sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.73sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.74sINFOplanner_serverPlanner Server has GridBased planners available. + 5.76sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.76sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.76sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.76sINFObehavior_serverConfiguring + 5.78sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.78sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.79sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.79sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.79sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.80sINFObehavior_serverConfiguring spin + 5.80sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.81sINFObehavior_serverConfiguring backup + 5.82sINFObehavior_serverConfiguring drive_on_heading + 5.82sINFObehavior_serverConfiguring assisted_teleop + 5.83sINFObehavior_serverConfiguring wait + 5.85sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.85sINFObt_navigatorConfiguring + 5.86sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.87sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 5.96sINFOplanning_scene_server.moveit.ros.rdf_loaderLoaded robot model in 0.495251 seconds + 5.96sINFOplanning_scene_serverLoaded robot model in 0.495251 seconds[0m ×2 + 5.96sINFOplanning_scene_server.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.96sINFOplanning_scene_server.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.97sINFOplanning_scene_serverLoading robot model 'ur5e'...[0m ×2 + 5.97sINFOplanning_scene_serverNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.06sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.15sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.15sINFOwaypoint_followerConfiguring + 6.19sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.19sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.19sINFOvelocity_smootherConfiguring velocity smoother + 6.20sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.20sINFOcontroller_serverActivating + 6.20sINFOlocal_costmap.local_costmapActivating + 6.20sINFOlocal_costmap.local_costmapChecking transform + 6.21sINFOlocal_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 ×4 + 6.44sINFOweb_video_auth_proxy2026-11-11 23:39:01,967 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.44sINFOweb_video_auth_proxy2026-11-11 23:39:01,971 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.44sINFOweb_bridge_auth_proxy2026-11-11 23:39:01,976 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.58sWARNplanning_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. + 6.58sWARNplanning_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. + 6.58sWARNplanning_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 + 6.58sWARNplanning_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 + 6.58sWARNplanning_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. + 6.58sWARNplanning_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 + 6.58sWARNplanning_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. + 6.58sWARNplanning_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 + 6.58sWARNplanning_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. + 6.58sWARNplanning_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. + 6.58sWARNplanning_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. + 6.58sWARNplanning_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 + 6.58sWARNplanning_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. + 6.58sWARNplanning_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 + 6.58sWARNplanning_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 + 6.58sWARNplanning_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 + 6.58sWARNplanning_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. + 6.58sWARNplanning_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. + 6.58sWARNplanning_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 + 6.58sWARNplanning_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 + 6.59sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.59sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.59sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.59sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.63sINFOros2_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 + 6.63sINFOros2_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 + 6.68sINFOwaypoint_manager_nodeLoaded robot model in 0.245902 seconds[0m ×2 + 6.68sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.68sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.81sINFOplanning_scene_server[2026-11-11 23:39:02.349] [moveit_pro_license] [info] ×2 + 6.81sINFOplanning_scene_server************************************************* ×4 + 6.81sINFOplanning_scene_server* MoveIt Pro License ×2 + 6.81sINFOplanning_scene_server* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212374 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212374 ms (missed cycles : 2).[0m ×2 + 7.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.13sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.13sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.14sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.15sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.16sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.32sINFOplanning_scene_server.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.32sINFOplanning_scene_serverPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.32sINFOplanning_scene_server.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.32sINFOplanning_scene_serverListening to joint states on topic 'joint_states'[0m ×2 + 7.32sINFOplanning_scene_server.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.32sINFOplanning_scene_server.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.32sINFOplanning_scene_serverListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.32sINFOplanning_scene_serverStopping existing planning scene publisher.[0m ×2 + 7.33sINFOplanning_scene_server.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.33sINFOplanning_scene_serverStopped publishing maintained planning scene.[0m ×2 + 7.33sINFOplanning_scene_server.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.33sINFOplanning_scene_serverStarting planning scene monitor[0m ×2 + 7.33sINFOplanning_scene_server.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.33sINFOplanning_scene_server.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.33sINFOplanning_scene_serverListening to '/planning_scene'[0m ×2 + 7.33sINFOplanning_scene_serverStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.33sINFOplanning_scene_server.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.33sINFOplanning_scene_serverListening to 'collision_object'[0m ×2 + 7.33sINFOplanning_scene_server.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.33sINFOplanning_scene_serverListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.36sINFOwaypoint_manager_node[2026-11-11 23:39:02.897] [moveit_pro_license] [info] ×2 + 7.36sINFOwaypoint_manager_node************************************************* ×4 + 7.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.50sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.50sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.50sINFOros2_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 + 7.51sWARNros2_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 + 7.51sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.51sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.51sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.51sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.51sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.51sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.51sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.51sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.51sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.51sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.51sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.51sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.51sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.51sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.51sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.51sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.51sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.51sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.51sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.51sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.51sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.51sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.51sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 7.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 7.58sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.58sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.60sINFOforce_torque_sensor_broadcasterconfigure successful + 7.60sINFOros2_control_nodeconfigure successful[0m ×8 + 7.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.60sINFOcontroller_managerSuccessfully switched controllers! ×19 + 7.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 7.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.73sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.73sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.74sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.77sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.77sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.83sINFOros2_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 + 7.83sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.83sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.90sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 7.90sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 7.90sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 7.90sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 7.90sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 7.90sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 7.94sINFOros2-14process has finished cleanly [pid 8203] ×2 + 7.97sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 7.97sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 7.97sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 7.97sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 7.98sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 7.98sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 7.99sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 7.99sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709846 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709846 ms (missed cycles : 2).[0m ×2 + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.20sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.21sINFOlocal_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. ×9 + 8.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.24sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.25sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.25sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.25sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.25sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.25sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.26sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.26sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.26sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.26sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.26sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.26sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.26sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.27sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.27sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.27sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.27sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.27sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.28sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.28sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.28sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.28sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.34sINFOros2-15process has finished cleanly [pid 8204] ×2 + 8.40sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.40sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.40sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.40sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.46sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.46sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.47sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.49sINFOstreaming_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) + 8.49sINFOcomponent_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 + 8.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.49sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.52sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.52sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.53sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 8.53sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 8.57sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.57sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 8.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.59sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.63sINFOobjective_server_node[2026-11-11 23:39:04.164] [moveit_pro_license] [info] ×2 + 8.63sINFOobjective_server_node************************************************* ×4 + 8.63sINFOobjective_server_node* MoveIt Pro License ×2 + 8.63sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.64sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.70sINFOobjective_server_nodeLoaded robot model in 0.0277403 seconds[0m ×2 + 8.70sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.70sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.72sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.73sWARNcomponent_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 + 8.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.04sINFOros2_control_node[2026-11-11 23:39:04.580] [info] Controller state will be published at 20 Hz. ×2 + 9.04sINFOros2_control_node[2026-11-11 23:39:04.582] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819838 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819838 ms (missed cycles : 2).[0m ×2 + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.19sINFOcomponent_container_mtLoaded robot model in 0.469601 seconds[0m ×2 + 9.19sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.19sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.23sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 9.23sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.25sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.25sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.25sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.25sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.25sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.25sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.25sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.33sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.33sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.38sINFOplanning_scene_server ×4 + 9.38sINFOplanning_scene_server[92mYou can start planning now![0m ×2 + 9.40sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.41sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.41sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.41sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.41sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 9.42sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 9.42sINFOros2-25process has finished cleanly [pid 8263] ×2 + 9.49sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.49sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.49sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.49sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.50sINFOplatform_velocity_controller_nav2configure successful + 9.63sWARNplanning_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. + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.63sWARNcomponent_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 + 9.63sWARNplanning_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. + 9.64sWARNcomponent_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 + 9.64sWARNplanning_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. + 9.64sWARNcomponent_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 + 9.64sWARNplanning_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. + 9.64sWARNcomponent_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 + 9.64sWARNplanning_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. + 9.64sWARNcomponent_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 + 9.64sWARNplanning_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. + 9.64sWARNplanning_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. + 9.64sWARNcomponent_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 + 9.64sWARNcomponent_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 + 9.64sWARNplanning_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. + 9.64sWARNplanning_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. + 9.64sWARNcomponent_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 + 9.64sWARNcomponent_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 + 9.64sWARNplanning_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. + 9.64sWARNcomponent_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 + 9.64sWARNplanning_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. + 9.64sWARNcomponent_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 + 9.65sWARNplanning_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. + 9.65sWARNplanning_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. + 9.65sWARNros2_control_nodeCamera render tick took 0.94 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 + 9.65sWARNcomponent_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 + 9.65sWARNcomponent_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 + 9.65sWARNplanning_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. + 9.65sWARNplanning_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. + 9.65sWARNcomponent_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 + 9.65sWARNcomponent_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 + 9.65sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.65sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.65sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.65sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 9.89sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 9.89sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 9.89sINFOros2-19process has finished cleanly [pid 8208] ×2 + 9.91sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 9.91sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 9.91sINFOcomponent_container_mt[2026-11-11 23:39:05.448] [moveit_pro_license] [info] ×2 + 9.91sINFOcomponent_container_mt************************************************* ×4 + 9.91sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.91sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.93sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 9.93sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 9.93sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 9.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 9.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 9.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905110 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905110 ms (missed cycles : 2).[0m ×2 + 10.26sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.26sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.26sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.26sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 10.26sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.26sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 10.28sINFOros2-18process has finished cleanly [pid 8207] ×2 + 10.32sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.32sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.34sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.34sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.34sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.34sINFOplatform_velocity_controllerconfigure successful + 10.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.35sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.35sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.49sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.49sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.65sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1794440344.242 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.66sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.66sINFOcontroller_managerLoading controller 'velocity_force_controller' + 10.66sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.66sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 10.68sINFOros2-17process has finished cleanly [pid 8206] ×2 + 10.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 10.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 10.80sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 10.80sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 10.80sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 10.80sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801557 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801557 ms (missed cycles : 2).[0m ×2 + 11.23sINFOros2_control_node[2026-11-11 23:39:06.769] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.24sINFOros2_control_node[2026-11-11 23:39:06.773] [info] Controller state will be published at 10 Hz. ×2 + 11.24sINFOros2_control_node[2026-11-11 23:39:06.775] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.57sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.57sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 11.57sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 11.58sINFOros2-22process has finished cleanly [pid 8212] ×2 + 11.67sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.67sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.67sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.67sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.67sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.67sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.67sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.67sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.67sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.67sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.99sINFOros2-21process has finished cleanly [pid 8211] ×2 + 12.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_base_jog' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_base_jog' + 12.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_base_jog' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.00sINFOcontroller_managerController 'platform_velocity_controller_base_jog' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 12.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_base_jog'[0m ×2 + 12.00sINFOros2_control_nodeController 'platform_velocity_controller_base_jog' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 12.06sINFOspawner_platform_velocity_controller_base_jog[94mLoaded [1mplatform_velocity_controller_base_jog[0m + 12.06sINFOros2[94mLoaded [1mplatform_velocity_controller_base_jog[0m[0m ×2 + 12.06sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_base_jog' + 12.06sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_base_jog'[0m ×2 + 12.06sINFOplatform_velocity_controller_base_jogconfigure successful + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809759 ms (missed cycles : 3). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809759 ms (missed cycles : 3).[0m ×2 + 12.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 12.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 12.41sINFOros2-20process has finished cleanly [pid 8210] ×2 + 12.46sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.46sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.48sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.48sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.71sINFOlocal_costmap.local_costmapstart + 12.80sINFOros2-16process has finished cleanly [pid 8205] ×2 + 12.81sWARNcontroller_serverParameter controller_server.verbose not found + 12.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.81sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 12.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.81sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.81sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 12.87sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.87sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.87sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.87sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.92sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.92sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.92sINFOsmoother_serverActivating + 12.92sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.03sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.03sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.03sINFOplanner_serverActivating + 13.03sINFOglobal_costmap.global_costmapActivating + 13.03sINFOglobal_costmap.global_costmapChecking transform + 13.03sINFOglobal_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. + 13.17sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1794440347.999 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098472 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098472 ms (missed cycles : 2).[0m ×2 + 13.26sINFOros2_control_node[2026-11-11 23:39:08.800] [info] Controller state will be published at 20 Hz. ×2 + 13.26sINFOros2_control_node[2026-11-11 23:39:08.801] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.30sINFOamclParticle filter update iteration stats: 1745 particles 811 points - 22.697ms + 13.46sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1794440347.608 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.53sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1794440349.034729, but only time 1794440349.409346 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.60sINFOros2-24process has finished cleanly [pid 8219] ×2 + 13.61sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.61sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.61sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.61sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll + 13.61sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.61sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hwy2g6q6 --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_oywi1yu0 --params-file /tmp/launch_params_xeufjoll [0m ×2 + 13.68sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.68sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.68sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.68sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 14.03sINFOglobal_costmap.global_costmapstart + 14.07sINFOros2_control_node[2026-11-11 23:39:09.605] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.07sINFOros2_control_node[2026-11-11 23:39:09.607] [info] Controller state will be published at 10 Hz. ×2 + 14.07sINFOros2_control_node[2026-11-11 23:39:09.608] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639968 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639968 ms (missed cycles : 2).[0m ×2 + 14.40sINFOros2-23process has finished cleanly [pid 8213] ×2 + 15.08sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.08sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.19sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.19sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.19sINFObehavior_serverActivating + 15.19sINFObehavior_serverActivating spin + 15.19sINFObehavior_serverActivating backup + 15.19sINFObehavior_serverActivating drive_on_heading + 15.19sINFObehavior_serverActivating assisted_teleop + 15.19sINFObehavior_serverActivating wait + 15.19sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.29sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.29sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.30sINFObt_navigatorActivating + 15.36sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743480 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743480 ms (missed cycles : 3).[0m ×2 + 15.47sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.47sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.47sINFOwaypoint_followerActivating + 15.47sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.57sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.57sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.57sINFOvelocity_smootherActivating + 15.57sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.68sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.68sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.68sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493222 ms (missed cycles : 3). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493222 ms (missed cycles : 3).[0m ×2 + 16.86sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 16.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 17.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 17.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 17.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 17.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 17.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 17.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 17.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.08sINFOros2_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 4.375019 ms (missed cycles : 3). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375019 ms (missed cycles : 3).[0m ×2 + 17.56sINFOros2_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 6.371094 ms (missed cycles : 4). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371094 ms (missed cycles : 4).[0m ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397147 ms (missed cycles : 3). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397147 ms (missed cycles : 3).[0m ×2 + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423364 ms (missed cycles : 3). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423364 ms (missed cycles : 3).[0m ×2 + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3). + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3).[0m ×2 + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2).[0m ×2 + 22.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
+ 22.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 22.74sINFOobjective_server_nodeobjective_name: "" ×12 + 22.74sINFOobjective_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 + 22.74sINFOobjective_server_node ×56 + 22.74sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.74sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 22.74sINFOobjective_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 + 22.74sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 22.74sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 22.74sINFOobjective_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 + 22.74sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 22.74sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 22.74sINFOobjective_server_node</Control> ×24 + 22.74sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 22.74sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 22.74sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.74sINFOobjective_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 + 22.74sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 22.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 22.74sINFOobjective_server_nodecaller: ×14 + 22.74sINFOobjective_server_nodetype: 0 ×14 + 22.74sINFOobjective_server_nodename: "" ×14 + 22.74sINFOobjective_server_nodeinstance_id: "" ×14 + 22.74sINFOobjective_server_nodenode_substitutions: [] ×14 + 22.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.32151914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.86sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.40174723 seconds ×3 + 22.93sINFOobjective_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=\"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: ""
node_substitutions: []
×3 + 22.93sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 23.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 23.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 23.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 23.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 23.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 23.75sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 23.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 24.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 24.45sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 24.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 24.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.73sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 25.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 25.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 25.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 25.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 25.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 25.33sINFOplanning_scene_serverClearing octomap...[0m ×2 + 25.33sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 25.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 25.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 25.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 | ||||
| ✓ passed | — | placed | 0.9s | 6 errors · 24 warnings · 659 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397147 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397147 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423364 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423364 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3).[0m ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 2.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
node_substitutions: []
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 3.21sINFOobjective_server_nodeobjective_name: "" ×12 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_node ×60 + 3.21sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.21sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.21sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.21sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.21sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.21sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.21sINFOobjective_server_node</Control> ×24 + 3.21sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.21sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.21sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.21sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.21sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×18 + 3.21sINFOobjective_server_nodecaller: ×18 + 3.21sINFOobjective_server_nodetype: 0 ×18 + 3.21sINFOobjective_server_nodename: "" ×18 + 3.21sINFOobjective_server_nodeinstance_id: "" ×18 + 3.21sINFOobjective_server_nodenode_substitutions: [] ×18 + 3.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.32151914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.40174723 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
×3 + 3.41sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.10sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 4.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 4.23sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.92sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 5.80sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 5.80sINFOplanning_scene_serverClearing octomap...[0m ×2 + 5.80sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 7.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 7.11sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 7.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | release_fails | 0.9s | 6 errors · 21 warnings · 763 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3).[0m ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.05sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_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=\"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: ""
node_substitutions: []
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.14sINFOobjective_server_nodeobjective_name: "" ×12 + 1.14sINFOobjective_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 + 1.14sINFOobjective_server_node ×64 + 1.14sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.14sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.14sINFOobjective_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 + 1.14sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.14sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.14sINFOobjective_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 + 1.14sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.14sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.14sINFOobjective_server_node</Control> ×24 + 1.14sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.14sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.14sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.14sINFOobjective_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 + 1.14sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.14sINFOobjective_server_nodecaller: ×22 + 1.14sINFOobjective_server_nodetype: 0 ×22 + 1.14sINFOobjective_server_nodename: "" ×22 + 1.14sINFOobjective_server_nodeinstance_id: "" ×22 + 1.14sINFOobjective_server_nodenode_substitutions: [] ×22 + 1.18sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.32151914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.40174723 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
×3 + 1.33sINFOobjective_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 + 1.39sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.03sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 2.15sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
node_substitutions: []
+ 2.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 2.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 3.73sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 3.73sINFOplanning_scene_serverClearing octomap...[0m ×2 + 3.73sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 3.74sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.74sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.80sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.40sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 | ||||
| ✓ passed | — | hover_fails | 0.8s | 6 errors · 21 warnings · 711 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423364 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423364 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3).[0m ×2 + 1.11sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.11sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.13sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.13sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
node_substitutions: []
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.20sINFOobjective_server_nodeobjective_name: "" ×12 + 2.20sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 2.20sINFOobjective_server_node ×62 + 2.20sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.20sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.20sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 2.20sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.20sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.20sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.20sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.20sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.20sINFOobjective_server_node</Control> ×24 + 2.20sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.20sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.20sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.20sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.20sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.20sINFOobjective_server_nodecaller: ×20 + 2.20sINFOobjective_server_nodetype: 0 ×20 + 2.20sINFOobjective_server_nodename: "" ×20 + 2.20sINFOobjective_server_nodeinstance_id: "" ×20 + 2.20sINFOobjective_server_nodenode_substitutions: [] ×20 + 2.24sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.32151914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.40174723 seconds ×3 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
×3 + 2.39sINFOobjective_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 + 2.46sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 3.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 3.21sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.27sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
+ 3.90sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.75sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 4.79sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 4.79sINFOplanning_scene_serverClearing octomap...[0m ×2 + 4.79sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 4.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.35sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 6.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 | ||||
| ✓ passed | — | test_fuse_inputs_reach_a_reliable_subscriber | 0.5s | 6 errors · 21 warnings · 604 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397147 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397147 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423364 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423364 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428403 ms (missed cycles : 3).[0m ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
node_substitutions: []
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.21sINFOobjective_server_nodeobjective_name: "" ×12 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_node ×58 + 3.21sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.21sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.21sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.21sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 3.21sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.21sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.21sINFOobjective_server_node</Control> ×24 + 3.21sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.21sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.21sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.21sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.21sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.21sINFOobjective_server_nodecaller: ×16 + 3.21sINFOobjective_server_nodetype: 0 ×16 + 3.21sINFOobjective_server_nodename: "" ×16 + 3.21sINFOobjective_server_nodeinstance_id: "" ×16 + 3.21sINFOobjective_server_nodenode_substitutions: [] ×16 + 3.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.32151914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.40174723 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
×3 + 3.41sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.10sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 4.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 4.23sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.92sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.76sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 5.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 5.80sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 5.80sINFOplanning_scene_serverClearing octomap...[0m ×2 + 5.80sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 5.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOvacuum_gripperReceived & accepted new action goal + 6.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives15 pass27 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.3s | 3 errors · 243 warnings · 287 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.889ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927141 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927141 ms (missed cycles : 3).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.669ms + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642817 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642817 ms (missed cycles : 3).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms + 2.31sINFOobjective_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 + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.337ms + 2.32sINFOjoint_trajectory_controllerGot request to cancel goal + 2.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.32sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.36sERRORobjective_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: 1794440577.83725357 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.40sINFOstate_estimatorReceived a set_pose request (stamp: 1794440577856168267, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.57sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.57sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067377 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067377 ms (missed cycles : 2).[0m ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_nodenode_substitutions: [] ×4 + 2.91sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1794440578.44329929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.668ms + 3.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.07sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.07sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568567, y=-0.0171807, yaw=-0.0184002 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.771ms + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359939 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359939 ms (missed cycles : 2).[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200292 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200292 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.59sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780817 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780817 ms (missed cycles : 3).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724565 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724565 ms (missed cycles : 3).[0m ×2 + 7.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.098ms + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618262 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618262 ms (missed cycles : 3).[0m ×2 + 8.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.419ms + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499529 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499529 ms (missed cycles : 3).[0m ×2 + 9.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.763ms + 10.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.125ms + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997621 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997621 ms (missed cycles : 3).[0m ×2 + 10.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.224ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863902 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863902 ms (missed cycles : 2).[0m ×2 + 11.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.406ms + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909897 ms (missed cycles : 4). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909897 ms (missed cycles : 4).[0m ×2 + 13.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.902ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342775 ms (missed cycles : 4). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342775 ms (missed cycles : 4).[0m ×2 + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.273ms + 14.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.226ms + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453342 ms (missed cycles : 4). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453342 ms (missed cycles : 4).[0m ×2 + 15.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.565ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481530 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481530 ms (missed cycles : 3).[0m ×2 + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.960ms + 16.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.128ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488841 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488841 ms (missed cycles : 3).[0m ×2 + 17.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 17.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.836ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425342 ms (missed cycles : 3). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425342 ms (missed cycles : 3).[0m ×2 + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.379ms + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609186 ms (missed cycles : 4). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609186 ms (missed cycles : 4).[0m ×2 + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.200ms + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.806ms + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908549 ms (missed cycles : 3). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908549 ms (missed cycles : 3).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.709ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052924 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052924 ms (missed cycles : 2).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.571ms + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607192 ms (missed cycles : 3). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607192 ms (missed cycles : 3).[0m ×2 + 22.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.013ms + 23.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.362ms + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538455 ms (missed cycles : 3). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538455 ms (missed cycles : 3).[0m ×2 + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.448ms + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769667 ms (missed cycles : 3). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769667 ms (missed cycles : 3).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.307ms + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835596 ms (missed cycles : 3). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835596 ms (missed cycles : 3).[0m ×2 + 25.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.989ms + 26.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.334ms + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034251 ms (missed cycles : 4). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034251 ms (missed cycles : 4).[0m ×2 + 27.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.485ms + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297073 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297073 ms (missed cycles : 2).[0m ×2 + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.806ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.961ms + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733003 ms (missed cycles : 2). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733003 ms (missed cycles : 2).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.550ms + 29.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339847 ms (missed cycles : 3). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339847 ms (missed cycles : 3).[0m ×2 + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.707ms ×2 + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525720 ms (missed cycles : 3). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525720 ms (missed cycles : 3).[0m ×2 + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.178ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.092ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.024443 ms (missed cycles : 5). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.024443 ms (missed cycles : 5).[0m ×2 + 32.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.721ms + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057225 ms (missed cycles : 2). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057225 ms (missed cycles : 2).[0m ×2 + 33.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.053ms + 33.96sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.97sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992174 ms (missed cycles : 3). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992174 ms (missed cycles : 3).[0m ×2 + 34.93sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692196 ms (missed cycles : 2). + 35.24sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692196 ms (missed cycles : 2).[0m ×2 + 35.69sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425205 ms (missed cycles : 3). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425205 ms (missed cycles : 3).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764687 ms (missed cycles : 2). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764687 ms (missed cycles : 2).[0m ×2 + 38.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.226ms + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550386 ms (missed cycles : 3). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550386 ms (missed cycles : 3).[0m ×2 + 38.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.877ms + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.314020 ms (missed cycles : 5). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.314020 ms (missed cycles : 5).[0m ×2 + 39.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.928ms + 40.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.214ms + 40.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.064ms + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202890 ms (missed cycles : 2). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202890 ms (missed cycles : 2).[0m ×2 + 41.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.871ms + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641184 ms (missed cycles : 3). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641184 ms (missed cycles : 3).[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838368 ms (missed cycles : 2). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838368 ms (missed cycles : 2).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877851 ms (missed cycles : 3). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877851 ms (missed cycles : 3).[0m ×2 + 44.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.720ms + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465625 ms (missed cycles : 3). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465625 ms (missed cycles : 3).[0m ×2 + 45.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.558ms + 45.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.090ms + 46.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318386 ms (missed cycles : 4). + 46.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318386 ms (missed cycles : 4).[0m ×2 + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.863ms + 46.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.018ms + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773137 ms (missed cycles : 2). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773137 ms (missed cycles : 2).[0m ×2 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204810 ms (missed cycles : 3). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204810 ms (missed cycles : 3).[0m ×2 + 48.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.043ms + 49.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154234 ms (missed cycles : 3). + 49.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154234 ms (missed cycles : 3).[0m ×2 + 49.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.370ms + 49.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.029ms + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260546 ms (missed cycles : 4). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260546 ms (missed cycles : 4).[0m ×2 + 50.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.900ms + 51.25sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152721 ms (missed cycles : 2). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152721 ms (missed cycles : 2).[0m ×2 + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338406 ms (missed cycles : 3). + 52.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338406 ms (missed cycles : 3).[0m ×2 + 53.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.769ms + 53.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180695 ms (missed cycles : 2). + 53.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180695 ms (missed cycles : 2).[0m ×2 + 54.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756773 ms (missed cycles : 2). + 54.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756773 ms (missed cycles : 2).[0m ×2 + 55.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.552ms + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178354 ms (missed cycles : 2). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178354 ms (missed cycles : 2).[0m ×2 + 55.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.405ms + 56.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.697ms + 56.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288295 ms (missed cycles : 4). + 56.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288295 ms (missed cycles : 4).[0m ×2 + 57.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.322ms + 57.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533690 ms (missed cycles : 3). + 57.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533690 ms (missed cycles : 3).[0m ×2 + 58.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.705ms + 59.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249013 ms (missed cycles : 2). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249013 ms (missed cycles : 2).[0m ×2 + 59.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.597ms + 59.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.088ms + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386695 ms (missed cycles : 3). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386695 ms (missed cycles : 3).[0m ×2 + 60.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.986ms + 61.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.467ms + 61.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971775 ms (missed cycles : 4). + 61.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971775 ms (missed cycles : 4).[0m ×2 + 61.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.372ms + 62.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322904 ms (missed cycles : 2). + 62.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322904 ms (missed cycles : 2).[0m ×2 + 62.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.052ms + 63.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903795 ms (missed cycles : 5). + 63.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903795 ms (missed cycles : 5).[0m ×2 + 63.49sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 64.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737448 ms (missed cycles : 2). + 64.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737448 ms (missed cycles : 2).[0m ×2 + 65.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.430ms + 65.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596064 ms (missed cycles : 3). + 65.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596064 ms (missed cycles : 3).[0m ×2 + 66.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588628 ms (missed cycles : 3). + 66.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588628 ms (missed cycles : 3).[0m ×2 + 67.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.301ms + 67.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097714 ms (missed cycles : 2). + 67.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097714 ms (missed cycles : 2).[0m ×2 + 68.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.917ms + 68.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427121 ms (missed cycles : 3). + 68.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427121 ms (missed cycles : 3).[0m ×2 + 68.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.637ms + 69.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516794 ms (missed cycles : 3). + 69.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516794 ms (missed cycles : 3).[0m ×2 + 69.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.841ms + 70.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.564ms + 70.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.677ms + 70.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806737 ms (missed cycles : 3). + 70.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806737 ms (missed cycles : 3).[0m ×2 + 70.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.624ms + 71.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.323ms + 71.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.359ms + 71.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164587 ms (missed cycles : 2). + 71.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164587 ms (missed cycles : 2).[0m ×2 + 72.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.923ms + 72.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.016ms + 72.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547522 ms (missed cycles : 3). + 72.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547522 ms (missed cycles : 3).[0m ×2 + 72.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.263ms + 73.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.548ms + 73.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101769 ms (missed cycles : 5). + 73.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101769 ms (missed cycles : 5).[0m ×2 + 74.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1794440650.16351366 seconds ×3 + 74.73sINFOstate_estimatorReceived a set_pose request (stamp: 1794440650181226176, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 74.77sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.27) is out of map bounds (-3.15, 0.30) to (1.83, 5.28). The costmap cannot raytrace for it. + 74.77sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.91) is out of map bounds (-3.15, 0.30) to (1.83, 5.28). The costmap cannot raytrace for it. + 74.87sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 74.87sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 74.97sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 74.97sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 75.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032211 ms (missed cycles : 3). + 75.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032211 ms (missed cycles : 3).[0m ×2 + 75.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 75.24sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 75.28sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1794440650.75896478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 75.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.859ms + 76.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374246 ms (missed cycles : 4). + 76.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374246 ms (missed cycles : 4).[0m ×2 + 76.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 76.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 76.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0156508, yaw=-0.0116013 + 77.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.318ms + 77.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543008 ms (missed cycles : 2). + 77.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543008 ms (missed cycles : 2).[0m ×2 + 78.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 78.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.6s | 191 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.31sINFOobjective_server_node ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.05sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922764 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922764 ms (missed cycles : 3).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652110 ms (missed cycles : 3). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652110 ms (missed cycles : 3).[0m ×2 + 8.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.138ms + 8.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.038ms + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041636 ms (missed cycles : 3). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041636 ms (missed cycles : 3).[0m ×2 + 9.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.323ms + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883725 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883725 ms (missed cycles : 3).[0m ×2 + 10.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.390ms + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.385ms + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816885 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816885 ms (missed cycles : 2).[0m ×2 + 11.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.412ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478273 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478273 ms (missed cycles : 3).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.387ms + 13.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.939ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405006 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405006 ms (missed cycles : 2).[0m ×2 + 14.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.985ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219267 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219267 ms (missed cycles : 2).[0m ×2 + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.393ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194398 ms (missed cycles : 4). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194398 ms (missed cycles : 4).[0m ×2 + 15.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.745ms + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.705ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475208 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475208 ms (missed cycles : 3).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.978ms + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503644 ms (missed cycles : 3). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503644 ms (missed cycles : 3).[0m ×2 + 17.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.566ms + 18.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.150ms + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007240 ms (missed cycles : 4). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007240 ms (missed cycles : 4).[0m ×2 + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.278ms + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.518325 ms (missed cycles : 6). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.518325 ms (missed cycles : 6).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.626ms + 21.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.822ms + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685801 ms (missed cycles : 2). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685801 ms (missed cycles : 2).[0m ×2 + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.918ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504415 ms (missed cycles : 4). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504415 ms (missed cycles : 4).[0m ×2 + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.472ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.068ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046722 ms (missed cycles : 3). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046722 ms (missed cycles : 3).[0m ×2 + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.531ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364355 ms (missed cycles : 3). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364355 ms (missed cycles : 3).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.887ms + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056094 ms (missed cycles : 2). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056094 ms (missed cycles : 2).[0m ×2 + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.889ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.043ms + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834872 ms (missed cycles : 2). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834872 ms (missed cycles : 2).[0m ×2 + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.798ms + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679628 ms (missed cycles : 3). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679628 ms (missed cycles : 3).[0m ×2 + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.172ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514044 ms (missed cycles : 3). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514044 ms (missed cycles : 3).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.979ms + 29.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.916ms + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393790 ms (missed cycles : 5). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393790 ms (missed cycles : 5).[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.623ms + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816996 ms (missed cycles : 5). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816996 ms (missed cycles : 5).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.171ms + 32.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.639ms + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797199 ms (missed cycles : 3). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797199 ms (missed cycles : 3).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.928ms + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261513 ms (missed cycles : 3). + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261513 ms (missed cycles : 3).[0m ×2 + 33.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.117ms + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540670 ms (missed cycles : 3). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540670 ms (missed cycles : 3).[0m ×2 + 34.46sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.48sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871391 ms (missed cycles : 2). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871391 ms (missed cycles : 2).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023831 ms (missed cycles : 2). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023831 ms (missed cycles : 2).[0m ×2 + 36.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.664ms + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944349 ms (missed cycles : 2). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944349 ms (missed cycles : 2).[0m ×2 + 38.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.128ms + 38.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697278 ms (missed cycles : 2). + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697278 ms (missed cycles : 2).[0m ×2 + 39.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.622ms + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423342 ms (missed cycles : 3). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423342 ms (missed cycles : 3).[0m ×2 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697460 ms (missed cycles : 2). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697460 ms (missed cycles : 2).[0m ×2 + 41.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.015ms + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062540 ms (missed cycles : 3). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062540 ms (missed cycles : 3).[0m ×2 + 42.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.025ms + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911376 ms (missed cycles : 5). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911376 ms (missed cycles : 5).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826980 ms (missed cycles : 2). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826980 ms (missed cycles : 2).[0m ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808297 ms (missed cycles : 2). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808297 ms (missed cycles : 2).[0m ×2 + 44.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.866ms + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238262 ms (missed cycles : 4). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238262 ms (missed cycles : 4).[0m ×2 + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300296 ms (missed cycles : 3). + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300296 ms (missed cycles : 3).[0m ×2 + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640148 ms (missed cycles : 6). + 47.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640148 ms (missed cycles : 6).[0m ×2 + 48.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.941ms + 49.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389483 ms (missed cycles : 4). + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389483 ms (missed cycles : 4).[0m ×2 + 50.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449428 ms (missed cycles : 5). + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449428 ms (missed cycles : 5).[0m ×2 + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389845 ms (missed cycles : 3). + 51.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389845 ms (missed cycles : 3).[0m ×2 + 52.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.460ms + 52.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942355 ms (missed cycles : 2). + 52.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942355 ms (missed cycles : 2).[0m ×2 + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781623 ms (missed cycles : 4). + 53.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781623 ms (missed cycles : 4).[0m ×2 + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495854 ms (missed cycles : 3). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495854 ms (missed cycles : 3).[0m ×2 + 55.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.282ms + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846493 ms (missed cycles : 2). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846493 ms (missed cycles : 2).[0m ×2 + 56.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.855ms + 56.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186098 ms (missed cycles : 3). + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186098 ms (missed cycles : 3).[0m ×2 + 57.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819638 ms (missed cycles : 3). + 57.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819638 ms (missed cycles : 3).[0m ×2 + 58.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323236 ms (missed cycles : 2). + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323236 ms (missed cycles : 2).[0m ×2 + 59.20sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 59.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.208ms + 59.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215486 ms (missed cycles : 3). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215486 ms (missed cycles : 3).[0m ×2 + 60.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.842ms + 60.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1794440714.26418638 seconds ×3 + 60.36sINFOstate_estimatorReceived a set_pose request (stamp: 1794440714285920523, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.40sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-5.00, 7.20) to (-0.02, 12.18). The costmap cannot raytrace for it. + 60.40sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-5.00, 7.20) to (-0.02, 12.18). The costmap cannot raytrace for it. + 60.50sWARNlocal_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 + 60.50sWARNlocal_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 + 60.70sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.70sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 60.87sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327618 ms (missed cycles : 4). + 60.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327618 ms (missed cycles : 4).[0m ×2 + 60.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1794440714.87181711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.03sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.652ms + 61.03sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 61.03sINFOamclInitializing particles from estimated pose and covariance + 61.03sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 61.03sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568566, y=-0.017181, yaw=-0.0184014 + 61.35sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 61.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.427ms + 61.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514447 ms (missed cycles : 4). + 62.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514447 ms (missed cycles : 4).[0m ×2 + 63.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741727 ms (missed cycles : 3). + 63.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741727 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.4s | 191 warnings · 234 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.448ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.522ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.056ms + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.181ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990415 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990415 ms (missed cycles : 3).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.257ms + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.859ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785646 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785646 ms (missed cycles : 5).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.235ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1794440414.18163848 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_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 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_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 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1794440414196087906, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.815ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895042 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895042 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.786ms + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×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_nodenode_substitutions: [] ×4 + 3.54sINFOobjective_server_node ×4 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1794440414.77694583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.297ms + 3.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.79sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171816, yaw=-0.0184022 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.651ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222113 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222113 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816566 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816566 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780566 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780566 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669364 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669364 ms (missed cycles : 2).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.070ms + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981233 ms (missed cycles : 5). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981233 ms (missed cycles : 5).[0m ×2 + 9.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.026ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760015 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760015 ms (missed cycles : 3).[0m ×2 + 9.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.877ms + 10.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.723ms + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444152 ms (missed cycles : 3). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444152 ms (missed cycles : 3).[0m ×2 + 11.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.435ms + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186576 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186576 ms (missed cycles : 3).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.865ms + 12.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.247ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734138 ms (missed cycles : 5). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734138 ms (missed cycles : 5).[0m ×2 + 13.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.415ms + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436316 ms (missed cycles : 3). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436316 ms (missed cycles : 3).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.113ms + 15.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.560ms + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558789 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558789 ms (missed cycles : 2).[0m ×2 + 16.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.442ms + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132024 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132024 ms (missed cycles : 2).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.376ms + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312391 ms (missed cycles : 3). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312391 ms (missed cycles : 3).[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.179ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.790ms + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317659 ms (missed cycles : 4). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317659 ms (missed cycles : 4).[0m ×2 + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.582ms + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086334 ms (missed cycles : 4). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086334 ms (missed cycles : 4).[0m ×2 + 19.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.465ms + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.264ms + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990926 ms (missed cycles : 2). + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990926 ms (missed cycles : 2).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.038ms + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215399 ms (missed cycles : 2). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215399 ms (missed cycles : 2).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.595ms + 22.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108304 ms (missed cycles : 4). + 22.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108304 ms (missed cycles : 4).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.681ms + 23.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.811ms + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840177 ms (missed cycles : 2). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840177 ms (missed cycles : 2).[0m ×2 + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.252ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951781 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951781 ms (missed cycles : 2).[0m ×2 + 25.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.424509 ms (missed cycles : 5). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.424509 ms (missed cycles : 5).[0m ×2 + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.526ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.156ms + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922824 ms (missed cycles : 4). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922824 ms (missed cycles : 4).[0m ×2 + 27.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.114ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069504 ms (missed cycles : 3). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069504 ms (missed cycles : 3).[0m ×2 + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.208ms + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077175 ms (missed cycles : 5). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077175 ms (missed cycles : 5).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.955ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.213ms + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616981 ms (missed cycles : 4). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616981 ms (missed cycles : 4).[0m ×2 + 30.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.874ms + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849498 ms (missed cycles : 3). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849498 ms (missed cycles : 3).[0m ×2 + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.154ms + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355853 ms (missed cycles : 3). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355853 ms (missed cycles : 3).[0m ×2 + 32.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.663ms + 33.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.300ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272252 ms (missed cycles : 4). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272252 ms (missed cycles : 4).[0m ×2 + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.188ms + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167105 ms (missed cycles : 3). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167105 ms (missed cycles : 3).[0m ×2 + 34.53sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.55sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032406 ms (missed cycles : 4). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032406 ms (missed cycles : 4).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830937 ms (missed cycles : 2). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830937 ms (missed cycles : 2).[0m ×2 + 36.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.181ms + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808363 ms (missed cycles : 2). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808363 ms (missed cycles : 2).[0m ×2 + 38.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.078ms + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718178 ms (missed cycles : 2). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718178 ms (missed cycles : 2).[0m ×2 + 39.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.298ms + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599456 ms (missed cycles : 5). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599456 ms (missed cycles : 5).[0m ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470580 ms (missed cycles : 3). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470580 ms (missed cycles : 3).[0m ×2 + 41.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.120ms + 41.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365031 ms (missed cycles : 3). + 41.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365031 ms (missed cycles : 3).[0m ×2 + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812571 ms (missed cycles : 2). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812571 ms (missed cycles : 2).[0m ×2 + 43.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589804 ms (missed cycles : 3). + 43.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589804 ms (missed cycles : 3).[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922869 ms (missed cycles : 2). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922869 ms (missed cycles : 2).[0m ×2 + 45.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.955ms + 46.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695517 ms (missed cycles : 6). + 46.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.695517 ms (missed cycles : 6).[0m ×2 + 47.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726196 ms (missed cycles : 2). + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726196 ms (missed cycles : 2).[0m ×2 + 47.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.894ms + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176467 ms (missed cycles : 2). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176467 ms (missed cycles : 2).[0m ×2 + 48.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.940ms + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983494 ms (missed cycles : 5). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983494 ms (missed cycles : 5).[0m ×2 + 50.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713504 ms (missed cycles : 4). + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713504 ms (missed cycles : 4).[0m ×2 + 51.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004963 ms (missed cycles : 3). + 51.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004963 ms (missed cycles : 3).[0m ×2 + 51.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.296ms + 52.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998585 ms (missed cycles : 3). + 52.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998585 ms (missed cycles : 3).[0m ×2 + 52.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.344ms + 53.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574772 ms (missed cycles : 3). + 53.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574772 ms (missed cycles : 3).[0m ×2 + 54.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830393 ms (missed cycles : 2). + 54.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830393 ms (missed cycles : 2).[0m ×2 + 54.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.391ms + 55.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258408 ms (missed cycles : 4). + 55.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258408 ms (missed cycles : 4).[0m ×2 + 55.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.719ms + 56.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431596 ms (missed cycles : 2). + 56.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431596 ms (missed cycles : 2).[0m ×2 + 57.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2). + 57.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2).[0m ×2 + 58.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4). + 58.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4).[0m ×2 + 59.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.405ms + 59.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5). + 59.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5).[0m ×2 + 60.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794440471.57712269 seconds ×3 + 60.43sINFOstate_estimatorReceived a set_pose request (stamp: 1794440471599561270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.46sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 60.46sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 60.56sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.56sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.81sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.703ms + 60.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 60.94sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.99sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794440472.17434359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4). + 61.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4).[0m ×2 + 61.25sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 51.420ms + 61.25sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 61.40sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 61.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.265ms + 61.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2). + 62.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2).[0m ×2 + 63.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3). + 63.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3).[0m ×2 + 64.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3). + 64.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 56.5s | 202 warnings · 233 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.510ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.230ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794440510.62167239 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1794440510642605963, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.56sINFOobjective_server_node ×4 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.391ms + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794440511.21672440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3).[0m ×2 + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.27sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.625ms + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.14sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.15sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.15sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009636 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009636 ms (missed cycles : 2).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.335ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519799 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519799 ms (missed cycles : 3).[0m ×2 + 9.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.314ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357028 ms (missed cycles : 4). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357028 ms (missed cycles : 4).[0m ×2 + 10.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.296ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.726ms + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915469 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915469 ms (missed cycles : 2).[0m ×2 + 11.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.865ms + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163183 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163183 ms (missed cycles : 2).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.680ms + 13.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.280ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861856 ms (missed cycles : 3). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861856 ms (missed cycles : 3).[0m ×2 + 13.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.867ms + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405164 ms (missed cycles : 3). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405164 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.501ms + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071096 ms (missed cycles : 5). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071096 ms (missed cycles : 5).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.639ms + 16.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.078ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724010 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724010 ms (missed cycles : 2).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.676ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776945 ms (missed cycles : 5). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776945 ms (missed cycles : 5).[0m ×2 + 17.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.399ms + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.322ms + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423438 ms (missed cycles : 3). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423438 ms (missed cycles : 3).[0m ×2 + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.336ms + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135616 ms (missed cycles : 2). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135616 ms (missed cycles : 2).[0m ×2 + 19.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.087ms + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420724 ms (missed cycles : 2). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420724 ms (missed cycles : 2).[0m ×2 + 20.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.116ms + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.305ms + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073726 ms (missed cycles : 2). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073726 ms (missed cycles : 2).[0m ×2 + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.765ms + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300361 ms (missed cycles : 4). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.300361 ms (missed cycles : 4).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.704ms + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.222ms + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463680 ms (missed cycles : 3). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463680 ms (missed cycles : 3).[0m ×2 + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.886ms + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987944 ms (missed cycles : 3). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987944 ms (missed cycles : 3).[0m ×2 + 25.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.294ms + 25.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864490 ms (missed cycles : 2). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864490 ms (missed cycles : 2).[0m ×2 + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.947ms + 27.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.876ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850827 ms (missed cycles : 5). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850827 ms (missed cycles : 5).[0m ×2 + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.744ms + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796427 ms (missed cycles : 3). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796427 ms (missed cycles : 3).[0m ×2 + 28.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.014ms + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212119 ms (missed cycles : 3). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212119 ms (missed cycles : 3).[0m ×2 + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.584ms + 30.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.177ms + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175754 ms (missed cycles : 4). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175754 ms (missed cycles : 4).[0m ×2 + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.226ms + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467640 ms (missed cycles : 3). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467640 ms (missed cycles : 3).[0m ×2 + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.172ms + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893695 ms (missed cycles : 3). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893695 ms (missed cycles : 3).[0m ×2 + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.453ms + 33.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.146ms + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783072 ms (missed cycles : 3). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783072 ms (missed cycles : 3).[0m ×2 + 34.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.520ms + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888317 ms (missed cycles : 5). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888317 ms (missed cycles : 5).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306269 ms (missed cycles : 5). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306269 ms (missed cycles : 5).[0m ×2 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398353 ms (missed cycles : 3). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398353 ms (missed cycles : 3).[0m ×2 + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074821 ms (missed cycles : 3). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074821 ms (missed cycles : 3).[0m ×2 + 38.03sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.28sWARNros2_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 + 38.78sINFOobjective_server_nodePlanning for 46 path waypoints. ×3 + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480954 ms (missed cycles : 4). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480954 ms (missed cycles : 4).[0m ×2 + 40.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547067 ms (missed cycles : 3). + 40.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547067 ms (missed cycles : 3).[0m ×2 + 40.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.164ms + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127017 ms (missed cycles : 2). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127017 ms (missed cycles : 2).[0m ×2 + 41.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.339ms + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222099 ms (missed cycles : 3). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222099 ms (missed cycles : 3).[0m ×2 + 42.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.957ms + 42.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.814ms + 43.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.437ms + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880072 ms (missed cycles : 3). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880072 ms (missed cycles : 3).[0m ×2 + 44.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.753ms + 44.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630059 ms (missed cycles : 3). + 44.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630059 ms (missed cycles : 3).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315579 ms (missed cycles : 3). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315579 ms (missed cycles : 3).[0m ×2 + 46.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.911ms + 46.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695264 ms (missed cycles : 3). + 46.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695264 ms (missed cycles : 3).[0m ×2 + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.613ms + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404723 ms (missed cycles : 3). + 47.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404723 ms (missed cycles : 3).[0m ×2 + 48.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.966ms + 48.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.857ms + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877081 ms (missed cycles : 2). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877081 ms (missed cycles : 2).[0m ×2 + 49.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.758ms + 50.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493598 ms (missed cycles : 4). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493598 ms (missed cycles : 4).[0m ×2 + 50.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.777ms + 51.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925741 ms (missed cycles : 3). + 51.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925741 ms (missed cycles : 3).[0m ×2 + 51.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.246ms + 51.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.024ms + 52.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459853 ms (missed cycles : 3). + 52.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459853 ms (missed cycles : 3).[0m ×2 + 52.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.414ms + 53.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323298 ms (missed cycles : 2). + 53.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323298 ms (missed cycles : 2).[0m ×2 + 53.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.944ms + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970207 ms (missed cycles : 3). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970207 ms (missed cycles : 3).[0m ×2 + 54.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.834ms + 55.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166318 ms (missed cycles : 3). + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166318 ms (missed cycles : 3).[0m ×2 + 55.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.629ms + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093319 ms (missed cycles : 3). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093319 ms (missed cycles : 3).[0m ×2 + 56.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.405ms + 57.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612630 ms (missed cycles : 3). + 57.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612630 ms (missed cycles : 3).[0m ×2 + 58.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.317ms + 58.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452088 ms (missed cycles : 3). + 58.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452088 ms (missed cycles : 3).[0m ×2 + 59.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1794440567.08687472 seconds ×3 + 59.52sINFOstate_estimatorReceived a set_pose request (stamp: 1794440567102567829, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.53sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.64) is out of map bounds (-4.35, 6.35) to (0.63, 11.33). The costmap cannot raytrace for it. + 59.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872411 ms (missed cycles : 4). + 59.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872411 ms (missed cycles : 4).[0m ×2 + 59.63sWARNlocal_costmap.local_costmapSensor origin at (-2.00, 11.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.63sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.83sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.83sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 60.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 60.09sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1794440567.70488262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.16sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.674ms + 60.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568295, y=-0.0171784, yaw=-0.0183893 + 60.52sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 60.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.589ms + 60.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219811 ms (missed cycles : 2). + 60.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219811 ms (missed cycles : 2).[0m ×2 + 61.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083849 ms (missed cycles : 5). + 61.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083849 ms (missed cycles : 5).[0m ×2 + 62.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185267 ms (missed cycles : 2). + 62.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185267 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 147 warnings · 438 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.03sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.03sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.03sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.03sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.03sINFOobjective_server_nodecaller: ×14 + 0.03sINFOobjective_server_nodetype: 0 ×14 + 0.03sINFOobjective_server_nodename: "" ×14 + 0.03sINFOobjective_server_nodeinstance_id: "" ×14 + 0.03sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.03sINFOobjective_server_node ×14 + 0.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.99sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 2.99sINFOplanning_scene_serverClearing octomap...[0m ×2 + 2.99sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 2.99sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 2.99sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.99sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021133 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021133 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663920 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663920 ms (missed cycles : 3).[0m ×2 + 7.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.739ms + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658296 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658296 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880755 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880755 ms (missed cycles : 3).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219143 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219143 ms (missed cycles : 3).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918905 ms (missed cycles : 4). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918905 ms (missed cycles : 4).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015043 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015043 ms (missed cycles : 2).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628606 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628606 ms (missed cycles : 3).[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472795 ms (missed cycles : 3). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472795 ms (missed cycles : 3).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000641 ms (missed cycles : 4). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000641 ms (missed cycles : 4).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338342 ms (missed cycles : 2). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338342 ms (missed cycles : 2).[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090030 ms (missed cycles : 4). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090030 ms (missed cycles : 4).[0m ×2 + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511772 ms (missed cycles : 3). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511772 ms (missed cycles : 3).[0m ×2 + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975422 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975422 ms (missed cycles : 2).[0m ×2 + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464047 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464047 ms (missed cycles : 3).[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228895 ms (missed cycles : 4). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228895 ms (missed cycles : 4).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522724 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522724 ms (missed cycles : 3).[0m ×2 + 23.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.891ms + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594383 ms (missed cycles : 3). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594383 ms (missed cycles : 3).[0m ×2 + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892126 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892126 ms (missed cycles : 2).[0m ×2 + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446141 ms (missed cycles : 3). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446141 ms (missed cycles : 3).[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729936 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729936 ms (missed cycles : 2).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598997 ms (missed cycles : 2). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598997 ms (missed cycles : 2).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996858 ms (missed cycles : 2). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996858 ms (missed cycles : 2).[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365246 ms (missed cycles : 3). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365246 ms (missed cycles : 3).[0m ×2 + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443293 ms (missed cycles : 3). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443293 ms (missed cycles : 3).[0m ×2 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942710 ms (missed cycles : 3). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942710 ms (missed cycles : 3).[0m ×2 + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823407 ms (missed cycles : 5). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823407 ms (missed cycles : 5).[0m ×2 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235509 ms (missed cycles : 2). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235509 ms (missed cycles : 2).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132144 ms (missed cycles : 2). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132144 ms (missed cycles : 2).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345622 ms (missed cycles : 3). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345622 ms (missed cycles : 3).[0m ×2 + 38.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.088ms + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401138 ms (missed cycles : 3). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401138 ms (missed cycles : 3).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390905 ms (missed cycles : 3). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390905 ms (missed cycles : 3).[0m ×2 + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735427 ms (missed cycles : 2). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735427 ms (missed cycles : 2).[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114290 ms (missed cycles : 3). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114290 ms (missed cycles : 3).[0m ×2 + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596166 ms (missed cycles : 3). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596166 ms (missed cycles : 3).[0m ×2 + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960310 ms (missed cycles : 5). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960310 ms (missed cycles : 5).[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268653 ms (missed cycles : 4). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268653 ms (missed cycles : 4).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020218 ms (missed cycles : 4). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020218 ms (missed cycles : 4).[0m ×2 + 46.54sINFOjoint_trajectory_controllerGoal reached, success! + 46.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1794440407.97401738 seconds ×3 + 46.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.61sINFOstate_estimatorReceived a set_pose request (stamp: 1794440407999425186, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3).[0m ×2 + 47.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 47.13sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.335ms + 47.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 47.15sINFOamclInitializing particles from estimated pose and covariance + 47.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 47.15sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183996 + 47.17sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1794440408.57145333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.20sWARNobjective_server_nodeComputeInverseKinematics Warning: The deprecated `link_padding` port and the `link_padding` in `collision_check_params` agree (0.01 m); remove the deprecated port. ×3 + 47.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.139ms + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657945 ms (missed cycles : 3). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657945 ms (missed cycles : 3).[0m ×2 + 48.34sINFOobjective_server_nodeFound path in 0 iterations (2.515e-05 s). ×2 + 48.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592102 ms (missed cycles : 3). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592102 ms (missed cycles : 3).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 49.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.448ms + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4).[0m ×2 + 50.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.522ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 118 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983369 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983369 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174443 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174443 ms (missed cycles : 4).[0m ×2 + 1.50sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.50sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.55sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1794440477.96454954 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751347 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751347 ms (missed cycles : 2).[0m ×2 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.11sINFOobjective_server_node ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967086 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967086 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1794440479.57149005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986777 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986777 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552201 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552201 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818130 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818130 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100542 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100542 ms (missed cycles : 2).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.601ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500261 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500261 ms (missed cycles : 3).[0m ×2 + 8.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.318ms + 9.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.438ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880867 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880867 ms (missed cycles : 3).[0m ×2 + 10.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.761ms + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881829 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881829 ms (missed cycles : 3).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.689ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818632 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818632 ms (missed cycles : 3).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.632ms + 12.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.460ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056011 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056011 ms (missed cycles : 3).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.077ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150970 ms (missed cycles : 4). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150970 ms (missed cycles : 4).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.023ms + 14.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.377ms + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938290 ms (missed cycles : 3). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938290 ms (missed cycles : 3).[0m ×2 + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.571ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447159 ms (missed cycles : 3). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447159 ms (missed cycles : 3).[0m ×2 + 16.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.517ms + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.060ms + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497023 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497023 ms (missed cycles : 2).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.230ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128960 ms (missed cycles : 4). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128960 ms (missed cycles : 4).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.791ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672881 ms (missed cycles : 2). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672881 ms (missed cycles : 2).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.242ms + 20.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.282ms + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950000 ms (missed cycles : 3). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950000 ms (missed cycles : 3).[0m ×2 + 20.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.387ms + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072409 ms (missed cycles : 3). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072409 ms (missed cycles : 3).[0m ×2 + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.726ms + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.872ms + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572778 ms (missed cycles : 3). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572778 ms (missed cycles : 3).[0m ×2 + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.104ms + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680669 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680669 ms (missed cycles : 2).[0m ×2 + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.089ms + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465460 ms (missed cycles : 3). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465460 ms (missed cycles : 3).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.349ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.729ms + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990846 ms (missed cycles : 3). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990846 ms (missed cycles : 3).[0m ×2 + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.048ms + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475207 ms (missed cycles : 4). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475207 ms (missed cycles : 4).[0m ×2 + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.888ms + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011904 ms (missed cycles : 4). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011904 ms (missed cycles : 4).[0m ×2 + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.314ms + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.007ms + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458187 ms (missed cycles : 3). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458187 ms (missed cycles : 3).[0m ×2 + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.241ms + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708092 ms (missed cycles : 5). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708092 ms (missed cycles : 5).[0m ×2 + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.524ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.510ms + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3).[0m ×2 + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.230ms + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2).[0m ×2 + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 34.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794440510.62167239 seconds ×3 + 34.24sINFOstate_estimatorReceived a set_pose request (stamp: 1794440510642605963, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.33sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 34.33sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 34.43sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.43sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2).[0m ×2 + 34.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 34.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.76sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.391ms + 34.80sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794440511.21672440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.21sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3).[0m ×2 + 36.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 36.47sINFOamclInitializing particles from estimated pose and covariance + 36.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 36.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 36.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.625ms + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2).[0m ×2 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4). + 37.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.3s | 81 warnings · 262 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819638 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819638 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323236 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323236 ms (missed cycles : 2).[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.208ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215486 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215486 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.842ms + 2.59sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.59sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1794440714.26418638 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.63sINFOstate_estimatorReceived a set_pose request (stamp: 1794440714285920523, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.64) is out of map bounds (-5.00, 7.20) to (-0.02, 12.18). The costmap cannot raytrace for it. + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-5.00, 7.20) to (-0.02, 12.18). The costmap cannot raytrace for it. + 2.78sWARNlocal_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 + 2.78sWARNlocal_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 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_nodenode_substitutions: [] ×6 + 3.14sINFOobjective_server_node ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327618 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327618 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1794440714.87181711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 13.652ms + 3.31sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.31sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.31sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.31sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568566, y=-0.017181, yaw=-0.0184014 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.427ms + 3.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514447 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514447 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741727 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741727 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975256 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975256 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965458 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965458 ms (missed cycles : 3).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233347 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233347 ms (missed cycles : 3).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228494 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228494 ms (missed cycles : 2).[0m ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 9.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×4 + 9.93sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.97sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 10.08sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.13sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 10.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.46sINFOobjective_server_nodeFound path in 0 iterations (6.02e-07 s). ×2 + 10.84sINFOobjective_server_nodeFound path in 33 iterations (0.0379959 s). ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923226 ms (missed cycles : 3). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923226 ms (missed cycles : 3).[0m ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162665 ms (missed cycles : 4). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162665 ms (missed cycles : 4).[0m ×2 + 11.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.90sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194223 ms (missed cycles : 3). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194223 ms (missed cycles : 3).[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213612 ms (missed cycles : 3). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213612 ms (missed cycles : 3).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.221ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860288 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860288 ms (missed cycles : 2).[0m ×2 + 15.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.576ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425286 ms (missed cycles : 4). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425286 ms (missed cycles : 4).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.427ms + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.283ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608212 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608212 ms (missed cycles : 3).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.747ms + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354636 ms (missed cycles : 4). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354636 ms (missed cycles : 4).[0m ×2 + 18.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1794440730.56335187 seconds ×3 + 18.93sINFOstate_estimatorReceived a set_pose request (stamp: 1794440730584225284, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 19.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.52sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 7.040ms + 19.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 19.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440731.20488763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.54sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 19.54sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 19.54sINFOplanning_scene_serverClearing octomap...[0m ×2 + 19.54sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 19.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982449 ms (missed cycles : 3). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982449 ms (missed cycles : 3).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.039ms + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618172 ms (missed cycles : 4). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618172 ms (missed cycles : 4).[0m ×2 + 20.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440732.55698967 seconds ×3 + 20.95sWARNros2_control_nodeCamera render tick took 0.52 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 + 20.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 21.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 21.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440733.14572001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175232 ms (missed cycles : 3). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175232 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.1s | 118 errors · 34 warnings · 586 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.747ms + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354636 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354636 ms (missed cycles : 4).[0m ×2 + 0.87sINFOjoint_trajectory_controllerGoal reached, success! + 0.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1794440730.56335187 seconds ×3 + 0.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.93sINFOstate_estimatorReceived a set_pose request (stamp: 1794440730584225284, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.44sINFOobjective_server_nodecaller: ×4 + 1.44sINFOobjective_server_nodetype: 0 ×4 + 1.44sINFOobjective_server_nodename: "" ×4 + 1.44sINFOobjective_server_nodeinstance_id: "" ×4 + 1.44sINFOobjective_server_nodenode_substitutions: [] ×4 + 1.44sINFOobjective_server_node ×4 + 1.52sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 7.040ms + 1.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 1.52sINFOamclInitializing particles from estimated pose and covariance + 1.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 1.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440731.20488763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 1.54sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 1.54sINFOplanning_scene_serverClearing octomap...[0m ×2 + 1.54sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 1.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982449 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982449 ms (missed cycles : 3).[0m ×2 + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.039ms + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618172 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618172 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440732.55698967 seconds ×3 + 2.95sWARNros2_control_nodeCamera render tick took 0.52 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 + 2.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440733.14572001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175232 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175232 ms (missed cycles : 3).[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912581 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912581 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794440734.48587966 seconds ×3 + 5.05sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441809 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441809 ms (missed cycles : 3).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800259 ms (missed cycles : 3). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800259 ms (missed cycles : 3).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085270 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085270 ms (missed cycles : 2).[0m ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275282 ms (missed cycles : 3). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275282 ms (missed cycles : 3).[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903421 ms (missed cycles : 2). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903421 ms (missed cycles : 2).[0m ×2 + 10.74sERRORweb_video_auth_proxy-42process[web_video_auth_proxy-42] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORweb_bridge_auth_proxy-41process[web_bridge_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORvideo_server-40process[video_server-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORtf2_web_republisher_node-39process[tf2_web_republisher_node-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORjoint_state_visualization_relay-38process[joint_state_visualization_relay-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORtf_visualization_relay-37process[tf_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORweb_bridge-36process[web_bridge-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORui_teleop_bridge-35process[ui_teleop_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORexecute_objective_bridge-34process[execute_objective_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORcomponent_container_mt-33process[component_container_mt-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sINFOweb_video_auth_proxy-42sending signal 'SIGTERM' to process[web_video_auth_proxy-42] ×2 + 10.77sERRORobjective_server_node_main-31process[objective_server_node_main-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_video_auth_proxy-42process has died [pid 8284, 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 + 10.77sERRORmove_end_effector_resampler_node-30process[move_end_effector_resampler_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORmove_joint_resampler_node-29process[move_joint_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sINFOweb_bridge_auth_proxy-41sending signal 'SIGTERM' to process[web_bridge_auth_proxy-41] ×2 + 10.78sERRORwaypoint_manager_node-28process[waypoint_manager_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORweb_bridge_auth_proxy-41process has died [pid 8283, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.78sERRORparameter_manager_node-27process[parameter_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORplanning_scene_server-26process[planning_scene_server-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sINFOvideo_server-40sending signal 'SIGTERM' to process[video_server-40] ×2 + 10.81sINFOtf2_web_republisher_node-39sending signal 'SIGTERM' to process[tf2_web_republisher_node-39] ×2 + 10.82sINFOjoint_state_visualization_relay-38sending signal 'SIGTERM' to process[joint_state_visualization_relay-38] ×2 + 10.83sINFOtf_visualization_relay-37sending signal 'SIGTERM' to process[tf_visualization_relay-37] ×2 + 10.84sINFOvideo_server-40process has finished cleanly [pid 8282] ×2 + 10.84sINFOweb_bridge-36sending signal 'SIGTERM' to process[web_bridge-36] ×2 + 10.85sINFOui_teleop_bridge-35sending signal 'SIGTERM' to process[ui_teleop_bridge-35] ×2 + 10.86sINFOexecute_objective_bridge-34sending signal 'SIGTERM' to process[execute_objective_bridge-34] ×2 + 10.88sINFOcomponent_container_mt-33sending signal 'SIGTERM' to process[component_container_mt-33] ×2 + 10.90sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.91sINFOobjective_server_node_main-31sending signal 'SIGTERM' to process[objective_server_node_main-31] ×2 + 10.93sINFOmove_end_effector_resampler_node-30sending signal 'SIGTERM' to process[move_end_effector_resampler_node-30] ×2 + 10.94sINFOmove_joint_resampler_node-29sending signal 'SIGTERM' to process[move_joint_resampler_node-29] ×2 + 10.96sINFOwaypoint_manager_node-28sending signal 'SIGTERM' to process[waypoint_manager_node-28] ×2 + 10.96sINFOlaunchprocess[web_bridge_auth_proxy-41] was required: shutting down launched system ×2 + 10.97sINFOparameter_manager_node-27sending signal 'SIGTERM' to process[parameter_manager_node-27] ×2 + 10.98sINFOplanning_scene_server-26sending signal 'SIGTERM' to process[planning_scene_server-26] ×2 + 11.00sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 11.00sINFOcontroller_managerShutdown request received.... + 11.00sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.00sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.00sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.00sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.00sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.00sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.00sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.00sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.00sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.00sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.00sINFOcontroller_managerShutting down controller 'platform_velocity_controller_base_jog' + 11.00sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.00sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.00sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.00sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.00sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.00sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.00sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.00sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.01sINFOcontroller_managerShutting down the controller manager. + 11.01sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 11.03sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 11.04sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 11.04sERRORplanning_scene_server-26process has died [pid 8264, 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_o2n3r18u --params-file /tmp/launch_params_s9cz33yi --params-file /tmp/launch_params_dao567dc --params-file /tmp/launch_params_9zytht5u --params-file /tmp/launch_params_oheh7ozn']. ×2 + 11.05sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.07sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.08sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.09sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 11.10sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 11.11sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 11.12sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.13sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.13sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.13sINFOmap_serverDeactivating + 11.13sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.13sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.13sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.13sINFOcontroller_serverDeactivating + 11.13sINFOlocal_costmap.local_costmapDeactivating + 11.13sINFOvideo_server2026/11/11 23:45:40 INF shutting down gracefully ×2 + 11.13sINFOvideo_server2026/11/11 23:45:40 INF [WebRTC] closing ×2 + 11.13sINFOvideo_server2026/11/11 23:45:40 INF [RTSP] closing ×2 + 11.13sINFOvideo_server2026/11/11 23:45:40 INF waiting for running hooks ×2 + 11.13sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.14sINFOmap_serverCleaning up + 11.14sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.14sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.14sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.14sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.14sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOplanning_scene_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sERRORplanning_scene_serverterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.14sERRORplanning_scene_serverwhat(): context cannot be slept with because it's invalid ×2 + 11.14sERRORplanning_scene_serverStack trace (most recent call last) in thread 8953: ×2 + 11.14sINFOplanning_scene_server#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.14sINFOplanning_scene_server#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff03c5ffcc3, in __clone ×2 + 11.14sINFOplanning_scene_server#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff03c572b83, in ×2 + 11.14sINFOplanning_scene_server#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff03c803db3, in ×2 + 11.14sINFOplanning_scene_server#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7ff03d6e93a4, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.14sINFOplanning_scene_server#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff03cd20620, in rclcpp::Rate::sleep() ×2 + 11.14sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.14sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_base_jog'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOplanning_scene_server#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff03cc62d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.14sINFOplanning_scene_server#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff03cc24087, in ×2 + 11.14sINFOplanning_scene_server#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff03c7d2390, in __cxa_throw ×2 + 11.14sINFOplanning_scene_server#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff03c7bca54, in std::terminate() ×2 + 11.14sINFOplanning_scene_server#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff03c7d20d9, in ×2 + 11.14sINFOplanning_scene_server#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff03c7bcff4, in ×2 + 11.14sINFOplanning_scene_server#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff03c4fe8fe, in abort ×2 + 11.14sINFOplanning_scene_server#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff03c51b27d, in raise ×2 + 11.14sINFOplanning_scene_server#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff03c574c0c, in pthread_kill ×2 + 11.14sERRORplanning_scene_serverAborted (Signal sent by tkill() 8264 0) ×2 + 11.14sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.14sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.14sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.15sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.15sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.15sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.15sERRORamclThe bond connection to the lifecycle manager has been broken + 11.18sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.19sINFOcontroller_serverCleaning up + 11.19sINFOlocal_costmap.local_costmapCleaning up + 11.22sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.22sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 11.23sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.23sINFOsmoother_serverDeactivating + 11.23sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.24sINFOsmoother_serverCleaning up + 11.26sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.26sINFOplanner_serverDeactivating + 11.26sINFOglobal_costmap.global_costmapDeactivating + 11.35sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.35sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.35sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.35sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.35sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.35sINFOvelocity_smootherDeactivating + 11.35sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.56sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.56sINFOwaypoint_followerDeactivating + 11.56sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.75sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.75sINFObt_navigatorDeactivating + 11.75sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.87sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.87sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.87sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.87sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.87sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.87sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.87sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.87sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.87sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.87sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.87sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.87sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.87sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.87sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.87sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.87sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.87sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.87sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.87sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.88sINFOtf2_web_republisher_node-39process has finished cleanly [pid 8281] ×2 + 11.88sINFOlaunchprocess[tf2_web_republisher_node-39] was required: shutting down launched system ×2 + 11.88sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.88sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.88sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.88sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.88sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.88sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.88sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.88sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.88sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.88sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.88sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.88sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.88sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.88sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.88sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.88sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.88sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.88sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.88sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.90sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.90sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.91sINFOplanner_serverCleaning up + 11.93sINFOglobal_costmap.global_costmapCleaning up + 11.93sERRORjoint_state_visualization_relay-38process has died [pid 8280, 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_himjdgru']. ×2 + 11.93sINFOlaunchprocess[joint_state_visualization_relay-38] was required: shutting down launched system ×2 + 11.93sERRORtf_visualization_relay-37process has died [pid 8277, 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_pulcq1ob']. ×2 + 11.93sINFOlaunchprocess[tf_visualization_relay-37] was required: shutting down launched system ×2 + 11.94sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.94sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.95sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.95sINFObehavior_serverDeactivating + 11.95sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.97sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.97sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.97sINFObt_navigatorCleaning up + 11.99sINFOui_teleop_bridge-35process has finished cleanly [pid 8275] ×2 + 12.00sINFOmove_end_effector_resampler_node-30process has finished cleanly [pid 8269] ×2 + 12.00sINFOexecute_objective_bridge-34process has finished cleanly [pid 8274] ×2 + 12.01sINFOmove_joint_resampler_node-29process has finished cleanly [pid 8268] ×2 + 12.05sINFOparameter_manager_node-27process has finished cleanly [pid 8265] ×2 + 12.06sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.06sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.06sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.06sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.06sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.06sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.06sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.07sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.07sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.07sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.07sINFOvelocity_smootherCleaning up + 12.07sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.07sINFOwaypoint_followerCleaning up + 12.08sINFOwaypoint_manager_node-28process has finished cleanly [pid 8266] ×2 + 12.08sINFOrelay-11process has finished cleanly [pid 8200] ×2 + 12.10sINFOrelay-10process has finished cleanly [pid 8199] ×2 + 12.10sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.10sINFOcomponent_container_mt-33process has finished cleanly [pid 8273] ×2 + 12.11sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8095] ×2 + 12.12sINFObt_navigatorCompleted Cleaning up + 12.12sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.12sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.12sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.12sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8094] ×2 + 12.12sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8201] ×2 + 12.12sINFOobjective_server_node[2026-11-11 23:45:41.789] [moveit_pro_license] [info] ×2 + 12.12sINFOobjective_server_node************************************************* ×4 + 12.12sINFOobjective_server_node* MoveIt Pro License ×2 + 12.12sINFOobjective_server_node* Application has successfully terminated ×2 + 12.13sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.13sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.13sINFObehavior_serverCleaning up + 12.13sINFOstatic_transform_publisher-7process has finished cleanly [pid 8093] ×2 + 12.14sINFOstatic_transform_publisher-6process has finished cleanly [pid 8092] ×2 + 12.14sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.14sINFOlidar_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 + 12.14sINFOlidar_flattener.pymain() ×2 + 12.14sINFOlidar_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 + 12.14sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.14sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.14sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.14sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.14sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.14sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.14sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.14sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.14sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.14sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.14sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.14sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.14sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.16sINFOstatic_transform_publisher-3process has finished cleanly [pid 8089] ×2 + 12.18sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.18sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.18sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.18sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.18sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.19sERRORlidar_flattener.py-5process has died [pid 8091, 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_appup5tc']. ×2 + 12.33sINFOobjective_server_node_main-31process has finished cleanly [pid 8270] ×2 + 12.33sINFOlaunchprocess[objective_server_node_main-31] was required: shutting down launched system ×2 + 12.49sERRORcomponent_container_isolated-1process has died [pid 8087, 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_d5etargk --params-file /tmp/launch_params_ed80hxbz -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.14sINFOcomponent_container_mt-32process has finished cleanly [pid 8271] ×2 + 13.15sINFOodom_world_drift-4process has finished cleanly [pid 8090] ×2 + 13.43sERRORcomponent_container_isolated-2process has died [pid 8088, 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_d5etargk --params-file /tmp/launch_params_9mb44z_v -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.77sINFOros2_control_node-13process has finished cleanly [pid 8202] ×2 + 13.90sINFOweb_bridge-36process has finished cleanly [pid 8276] ×2 + 13.90sINFOlaunchprocess[web_bridge-36] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 74 warnings · 171 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093319 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093319 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.405ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612630 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612630 ms (missed cycles : 3).[0m ×2 + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.317ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452088 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452088 ms (missed cycles : 3).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1794440567.08687472 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_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 + 3.02sINFOros2_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 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOstate_estimatorReceived a set_pose request (stamp: 1794440567102567829, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.64) is out of map bounds (-4.35, 6.35) to (0.63, 11.33). The costmap cannot raytrace for it. + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872411 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872411 ms (missed cycles : 4).[0m ×2 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.00, 11.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.66, 11.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.56sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1794440567.70488262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.674ms + 3.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.69sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.70sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568295, y=-0.0171784, yaw=-0.0183893 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.589ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219811 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219811 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083849 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083849 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185267 ms (missed cycles : 2). + 6.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185267 ms (missed cycles : 2).[0m ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044776 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044776 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172923 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172923 ms (missed cycles : 2).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.107ms + 9.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.558ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821761 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821761 ms (missed cycles : 2).[0m ×2 + 9.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.072ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471115 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471115 ms (missed cycles : 3).[0m ×2 + 10.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.306ms + 11.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.889ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927141 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927141 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.669ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642817 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642817 ms (missed cycles : 3).[0m ×2 + 12.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.432ms + 13.71sINFOobjective_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 + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.337ms + 13.72sINFOjoint_trajectory_controllerGot request to cancel goal + 13.72sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.72sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.72sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.76sERRORobjective_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: 1794440577.83725357 seconds ×3 + 13.79sINFOstate_estimatorReceived a set_pose request (stamp: 1794440577856168267, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.96sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.96sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067377 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067377 ms (missed cycles : 2).[0m ×2 + 14.16sWARNlocal_costmap.local_costmapSensor origin at (-0.59, 3.09) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.16sWARNlocal_costmap.local_costmapSensor origin at (-1.49, 3.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 14.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1794440578.44329929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.668ms + 14.46sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568567, y=-0.0171807, yaw=-0.0184002 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 20.771ms + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359939 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359939 ms (missed cycles : 2).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200292 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200292 ms (missed cycles : 2).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780817 ms (missed cycles : 3). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780817 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 50 warnings · 154 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.405ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.54sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794440471.57712269 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1794440471599561270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.703ms + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.11sINFOobjective_server_node ×4 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794440472.17434359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 51.420ms + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.41sINFOamclInitializing particles from estimated pose and covariance + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.265ms + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983369 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983369 ms (missed cycles : 5).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174443 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174443 ms (missed cycles : 4).[0m ×2 + 8.95sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1794440477.96454954 seconds ×3 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751347 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751347 ms (missed cycles : 2).[0m ×2 + 10.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 10.50sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967086 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967086 ms (missed cycles : 3).[0m ×2 + 10.56sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1794440479.57149005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.97sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986777 ms (missed cycles : 5). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986777 ms (missed cycles : 5).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552201 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552201 ms (missed cycles : 3).[0m ×2 + 13.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818130 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818130 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 48 warnings · 153 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.359ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164587 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164587 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.923ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.016ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547522 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547522 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.263ms + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.548ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101769 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101769 ms (missed cycles : 5).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1794440650.16351366 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOstate_estimatorReceived a set_pose request (stamp: 1794440650181226176, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.27) is out of map bounds (-3.15, 0.30) to (1.83, 5.28). The costmap cannot raytrace for it. + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.91) is out of map bounds (-3.15, 0.30) to (1.83, 5.28). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 13.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032211 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032211 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.48sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1794440650.75896478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.859ms + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374246 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374246 ms (missed cycles : 4).[0m ×2 + 5.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 5.21sINFOamclInitializing particles from estimated pose and covariance + 5.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 5.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0548325, y=-0.0156508, yaw=-0.0116013 + 5.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.318ms + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543008 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543008 ms (missed cycles : 2).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 9.47sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 10.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 10.02sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 10.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 12.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 42 warnings · 171 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960310 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960310 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268653 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268653 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020218 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020218 ms (missed cycles : 4).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1794440407.97401738 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1794440407999425186, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×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_nodenode_substitutions: [] ×4 + 3.45sINFOobjective_server_node ×4 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.335ms + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.47sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183996 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1794440408.57145333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sWARNobjective_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 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.139ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657945 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657945 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.515e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.76sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592102 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592102 ms (missed cycles : 3).[0m ×2 + 5.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.448ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.522ms + 6.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.056ms + 7.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.181ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990415 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990415 ms (missed cycles : 3).[0m ×2 + 7.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.257ms + 7.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 8.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.859ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785646 ms (missed cycles : 5). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785646 ms (missed cycles : 5).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.235ms + 9.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1794440414.18163848 seconds ×3 + 9.13sINFOstate_estimatorReceived a set_pose request (stamp: 1794440414196087906, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.815ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895042 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895042 ms (missed cycles : 2).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.786ms + 9.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 9.64sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1794440414.77694583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.297ms + 9.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171816, yaw=-0.0184022 + 10.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.651ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222113 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222113 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816566 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816566 ms (missed cycles : 3).[0m ×2 + 12.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780566 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780566 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.0s | 28 warnings · 130 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425286 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425286 ms (missed cycles : 4).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.427ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.283ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608212 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608212 ms (missed cycles : 3).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.747ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354636 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354636 ms (missed cycles : 4).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1794440730.56335187 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_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 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sINFOstate_estimatorReceived a set_pose request (stamp: 1794440730584225284, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.14sINFOobjective_server_node ×4 + 3.22sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 7.040ms + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.22sINFOamclInitializing particles from estimated pose and covariance + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440731.20488763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 3.24sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 3.24sINFOplanning_scene_serverClearing octomap...[0m ×2 + 3.24sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 3.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982449 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982449 ms (missed cycles : 3).[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.039ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618172 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618172 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440732.55698967 seconds ×3 + 4.65sWARNros2_control_nodeCamera render tick took 0.52 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 + 4.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440733.14572001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175232 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175232 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912581 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912581 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1794440734.48587966 seconds ×3 + 6.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441809 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441809 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.8s | 6 errors · 21 warnings · 730 info |
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.63sINFOobjective_server_nodenode_substitutions: [] ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 0.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.45sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.49sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 1.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.29sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.33sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.33sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 7.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 0.6s | 6 errors · 21 warnings · 843 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
node_substitutions: []
+ 0.09sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.10sINFOobjective_server_nodeobjective_name: "" ×12 + 0.10sINFOobjective_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 + 0.10sINFOobjective_server_node ×68 + 0.10sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.10sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.10sINFOobjective_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 + 0.10sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.10sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.10sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.10sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.10sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.10sINFOobjective_server_node</Control> ×24 + 0.10sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.10sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.10sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.10sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.10sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.10sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.10sINFOobjective_server_nodecaller: ×26 + 0.10sINFOobjective_server_nodetype: 0 ×26 + 0.10sINFOobjective_server_nodename: "" ×26 + 0.10sINFOobjective_server_nodeinstance_id: "" ×26 + 0.10sINFOobjective_server_nodenode_substitutions: [] ×26 + 0.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.32151914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.40174723 seconds ×3 + 0.29sINFOobjective_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: ""
node_substitutions: []
×3 + 0.29sINFOobjective_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 + 0.35sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.43sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 0.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.98sINFOobjective_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: ""
node_substitutions: []
+ 0.99sINFOobjective_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 + 1.02sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 1.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 1.11sINFOobjective_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 + 1.17sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 1.80sINFOobjective_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: ""
node_substitutions: []
+ 1.80sINFOobjective_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 + 1.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 2.01sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.69sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.69sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.69sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 5.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_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 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 6.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.77sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_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 · 353 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.03sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.03sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.03sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.03sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.03sINFOobjective_server_nodecaller: ×12 + 0.03sINFOobjective_server_nodetype: 0 ×12 + 0.03sINFOobjective_server_nodename: "" ×12 + 0.03sINFOobjective_server_nodeinstance_id: "" ×12 + 0.03sINFOobjective_server_nodenode_substitutions: [] ×12 + 0.03sINFOobjective_server_node ×12 + 0.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.99sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 2.99sINFOplanning_scene_serverClearing octomap...[0m ×2 + 2.99sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 2.99sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 2.99sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.99sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021133 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021133 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960310 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960310 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268653 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268653 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020218 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020218 ms (missed cycles : 4).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1794440407.97401738 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1794440407999425186, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×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_nodenode_substitutions: [] ×2 + 3.45sINFOobjective_server_node ×2 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.335ms + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.47sINFOamclInitializing particles from estimated pose and covariance + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183996 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1794440408.57145333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sWARNobjective_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 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.139ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657945 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657945 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.515e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592102 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592102 ms (missed cycles : 3).[0m ×2 + 5.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.448ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.522ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960310 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960310 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268653 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268653 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020218 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020218 ms (missed cycles : 4).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1794440407.97401738 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1794440407999425186, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×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_nodenode_substitutions: [] ×2 + 3.45sINFOobjective_server_node ×2 + 3.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.335ms + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.47sINFOamclInitializing particles from estimated pose and covariance + 3.47sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569176, y=-0.0171794, yaw=-0.0183996 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1794440408.57145333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sWARNobjective_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 + 3.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.139ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657945 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657945 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.515e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592102 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592102 ms (missed cycles : 3).[0m ×2 + 5.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.448ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.522ms | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 91 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.448ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039457 ms (missed cycles : 4).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.522ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.056ms + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.181ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990415 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990415 ms (missed cycles : 3).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.257ms + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.859ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785646 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.785646 ms (missed cycles : 5).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.235ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1794440414.18163848 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1794440414196087906, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.815ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895042 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895042 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.786ms + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.54sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1794440414.77694583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.297ms + 3.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.79sINFOamclInitializing particles from estimated pose and covariance + 3.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171816, yaw=-0.0184022 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.651ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222113 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222113 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816566 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816566 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780566 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780566 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 29 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.405ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794440471.57712269 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1794440471599561270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.703ms + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794440472.17434359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 51.420ms + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.41sINFOamclInitializing particles from estimated pose and covariance + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.265ms + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 29 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.405ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794440471.57712269 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1794440471599561270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.703ms + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794440472.17434359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 51.420ms + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.41sINFOamclInitializing particles from estimated pose and covariance + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.265ms + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot If Needed | localize_robot_if_needed.xml | 0.0s | 29 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.405ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794440471.57712269 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1794440471599561270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.703ms + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794440472.17434359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 51.420ms + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.41sINFOamclInitializing particles from estimated pose and covariance + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.265ms + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 29 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.405ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794440471.57712269 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1794440471599561270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.703ms + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794440472.17434359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 51.420ms + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.41sINFOamclInitializing particles from estimated pose and covariance + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.265ms + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 29 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.405ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794440471.57712269 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1794440471599561270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.703ms + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794440472.17434359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 51.420ms + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.41sINFOamclInitializing particles from estimated pose and covariance + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.265ms + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 29 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.405ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794440471.57712269 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1794440471599561270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.703ms + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794440472.17434359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 51.420ms + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.41sINFOamclInitializing particles from estimated pose and covariance + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.265ms + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 29 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998374 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872428 ms (missed cycles : 4).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.405ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839842 ms (missed cycles : 5).[0m ×2 + 2.54sINFOjoint_trajectory_controllerGoal reached, success! + 2.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1794440471.57712269 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1794440471599561270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.63sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-4.80, 6.45) to (0.18, 11.43). The costmap cannot raytrace for it. + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.703ms + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1794440472.17434359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022105 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 51.420ms + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.41sINFOamclInitializing particles from estimated pose and covariance + 3.41sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568156, y=-0.0171821, yaw=-0.0184027 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.265ms + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.89sINFOjoint_trajectory_controllerReceived new action goal + 3.89sINFOjoint_trajectory_controllerAccepted new action goal + 3.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139960 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528070 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595736 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 31 warnings · 83 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.510ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.230ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794440510.62167239 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1794440510642605963, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.56sINFOobjective_server_node ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.391ms + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794440511.21672440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3).[0m ×2 + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.27sINFOamclInitializing particles from estimated pose and covariance + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.625ms + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate Hangar Loop | navigate_hangar_loop.xml | 0.0s | 31 warnings · 83 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.510ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.230ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794440510.62167239 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1794440510642605963, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.56sINFOobjective_server_node ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.391ms + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794440511.21672440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3).[0m ×2 + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.27sINFOamclInitializing particles from estimated pose and covariance + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.625ms + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 31 warnings · 83 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.510ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.230ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794440510.62167239 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1794440510642605963, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.56sINFOobjective_server_node ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.391ms + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794440511.21672440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3).[0m ×2 + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.27sINFOamclInitializing particles from estimated pose and covariance + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.625ms + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 31 warnings · 83 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.789ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736435 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.510ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407908 ms (missed cycles : 3).[0m ×2 + 1.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.230ms + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942628 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.507ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1794440510.62167239 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOstate_estimatorReceived a set_pose request (stamp: 1794440510642605963, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.15) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.18) is out of map bounds (-4.80, 4.75) to (0.18, 9.73). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047572 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.56sINFOobjective_server_node ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.391ms + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1794440511.21672440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975646 ms (missed cycles : 3).[0m ×2 + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.27sINFOamclInitializing particles from estimated pose and covariance + 5.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567326, y=-0.0171841, yaw=-0.0184047 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.625ms + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145668 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933900 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.31sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place | refine_localization_in_place.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.31sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place Subtree | refine_localization_in_place_subtree.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.31sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 6 errors · 18 warnings · 607 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 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: ""
node_substitutions: []
×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_nodenode_substitutions: [] ×20 + 0.02sINFOobjective_server_node ×34 + 0.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.69sINFOobjective_server_node</Control> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 0.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 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 + 1.57sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 1.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 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: 1794440361.52714682 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 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: ""
node_substitutions: []
+ 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 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 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_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 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.31sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.31sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.31sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.31sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.31sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260363 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348231 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167689 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1794440656.69913530 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_nodenode_substitutions: [] ×2 + 3.31sINFOobjective_server_node ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882029 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1794440657.30401516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179340 ms (missed cycles : 3).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380567 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 22 warnings · 127 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425286 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.425286 ms (missed cycles : 4).[0m ×2 + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.427ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.283ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608212 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608212 ms (missed cycles : 3).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.747ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354636 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354636 ms (missed cycles : 4).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1794440730.56335187 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_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 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sINFOstate_estimatorReceived a set_pose request (stamp: 1794440730584225284, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_nodenode_substitutions: [] ×4 + 3.14sINFOobjective_server_node ×4 + 3.22sINFOamclParticle filter update iteration stats: 1671 particles 811 points - 7.040ms + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.22sINFOamclInitializing particles from estimated pose and covariance + 3.22sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568875, y=-0.0171802, yaw=-0.0184005 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1794440731.20488763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 3.24sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 3.24sINFOplanning_scene_serverClearing octomap...[0m ×2 + 3.24sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 3.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982449 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982449 ms (missed cycles : 3).[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.039ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618172 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618172 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1794440732.55698967 seconds ×3 + 4.65sWARNros2_control_nodeCamera render tick took 0.52 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 + 4.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1794440733.14572001 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175232 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175232 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 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/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 errors · 21 warnings · 558 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: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 0.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
+ 0.17sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.89sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.89sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.89sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 6 errors · 21 warnings · 613 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 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: ""
node_substitutions: []
×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_nodenode_substitutions: [] ×20 + 0.02sINFOobjective_server_node ×34 + 0.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.69sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.69sINFOobjective_server_node</Control> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 0.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 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 + 1.57sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 1.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 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: 1794440361.52714682 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 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: ""
node_substitutions: []
+ 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 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 + 5.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_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 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.65sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.07sINFOjoint_trajectory_controllerReceived new action goal + 7.07sINFOjoint_trajectory_controllerAccepted new action goal + 7.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 6 errors · 21 warnings · 829 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×22 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.54sINFOobjective_server_nodeobjective_name: "" ×12 + 0.54sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.54sINFOobjective_server_node ×66 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.54sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.54sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.54sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.54sINFOobjective_server_node</Control> ×24 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.54sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.54sINFOobjective_server_nodecaller: ×24 + 0.54sINFOobjective_server_nodetype: 0 ×24 + 0.54sINFOobjective_server_nodename: "" ×24 + 0.54sINFOobjective_server_nodeinstance_id: "" ×24 + 0.54sINFOobjective_server_nodenode_substitutions: [] ×24 + 0.59sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.32151914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.40174723 seconds ×3 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
×3 + 0.74sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.80sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 1.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
+ 1.43sINFOobjective_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 + 1.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 1.56sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.61sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 2.25sINFOobjective_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: ""
node_substitutions: []
+ 2.25sINFOobjective_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 + 2.29sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 2.46sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 3.13sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 3.13sINFOplanning_scene_serverClearing octomap...[0m ×4 + 3.13sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 3.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 6.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_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 + 6.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 errors · 18 warnings · 738 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985484 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.54sINFOobjective_server_nodeobjective_name: "" ×12 + 0.54sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.54sINFOobjective_server_node ×64 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.54sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.54sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.54sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.54sINFOobjective_server_node</Control> ×24 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.54sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.54sINFOobjective_server_nodecaller: ×22 + 0.54sINFOobjective_server_nodetype: 0 ×22 + 0.54sINFOobjective_server_nodename: "" ×22 + 0.54sINFOobjective_server_nodeinstance_id: "" ×22 + 0.54sINFOobjective_server_nodenode_substitutions: [] ×22 + 0.59sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.32151914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.40174723 seconds ×3 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
×3 + 0.74sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 0.80sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 1.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
+ 1.43sINFOobjective_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 + 1.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 1.56sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.61sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 2.25sINFOobjective_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: ""
node_substitutions: []
+ 2.25sINFOobjective_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 + 2.29sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 2.46sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... + 3.13sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. + 3.13sINFOplanning_scene_serverClearing octomap...[0m ×2 + 3.13sINFOplanning_scene_serverOctomap cleared.[0m ×2 + 3.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 6 errors · 18 warnings · 727 info |
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.63sINFOobjective_server_nodenode_substitutions: [] ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 0.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.45sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.49sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 1.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.29sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.33sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.33sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 6 errors · 18 warnings · 727 info |
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.63sINFOobjective_server_nodenode_substitutions: [] ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 0.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.45sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.49sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 1.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.29sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.33sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.33sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 6 errors · 18 warnings · 727 info |
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440358.53586435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440358.61604023 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.63sINFOobjective_server_nodenode_substitutions: [] ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.20266604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903041 ms (missed cycles : 2).[0m ×2 + 0.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440359.29286766 seconds ×3 + 0.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×4 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440359.34932923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440359.41947961 seconds ×3 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.45sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.49sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 1.66sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.29sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 2.33sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 2.33sINFOplanning_scene_serverClearing octomap...[0m ×4 + 2.33sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 5.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 6.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 errors · 21 warnings · 558 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: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1794440360.02168250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1794440360.12210989 seconds ×3 + 0.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
node_substitutions: []
+ 0.17sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: 1794440360.19262958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1794440360.27277350 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650779 ms (missed cycles : 3).[0m ×2 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.89sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.89sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.89sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.90sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.90sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.20sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.39sINFOjoint_trajectory_controllerAccepted new action goal + 6.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021133 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.021133 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_nodenode_substitutions: [] ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1794440360.86440659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverClearing octomap... ×2 + 0.04sINFOplanning_scene_server.moveit.ros.planning_scene_serverOctomap cleared. ×2 + 0.04sINFOplanning_scene_serverClearing octomap...[0m ×4 + 0.04sINFOplanning_scene_serverOctomap cleared.[0m ×4 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1794440360.88522363 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504625 ms (missed cycles : 3).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1794440361.46698785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1794440361.52714682 seconds ×3 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1794440362.22721267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1794440362.28736806 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390499 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1794440362.97919750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1794440362.99938083 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784183 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1794440363.58548570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1794440363.73648238 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1794440364.34614468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1794440364.40630698 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228084 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
node_substitutions: []
+ 4.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1794440364.99391580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109283 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464227 ms (missed cycles : 3).[0m ×2 | ||||