118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.3s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.3s | 267 warnings · 280 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607094.38374972 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607095.00160980 seconds. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2).[0m ×2 + 0.83sWARNcontroller_managerOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us + 0.83sWARNros2_control_nodeOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653023358 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653066119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208239614 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208312565 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.339349301 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342087456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342128567 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us[0m ×2 + 2.31sINFOobjective_server_node[0;93m2026-06-04 21:04:56.691613892 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.710994255 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.711044526 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6).[0m ×2 + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607097.58359051 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607098.35459805 seconds. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.07sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108752 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108752 ms (missed cycles : 2).[0m ×2 + 7.25sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.27sINFOros2_control_node[2026-06-04 21:05:01.649] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-06-04 21:05:01.649] [info] Accepted new action goal ×2 + 7.69sWARNcontroller_managerOverrun might occur, Total time : 2465.730 us (Expected < 1666.667 us) --> Read time : 786.136 us, Update time : 390.288 us, Write time : 1289.306 us + 7.69sWARNros2_control_nodeOverrun might occur, Total time : 2465.730 us (Expected < 1666.667 us) --> Read time : 786.136 us, Update time : 390.288 us, Write time : 1289.306 us[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.101303 ms (missed cycles : 8). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.101303 ms (missed cycles : 8).[0m ×2 + 8.84sWARNcontroller_managerOverrun might occur, Total time : 1822.907 us (Expected < 1666.667 us) --> Read time : 278.055 us, Update time : 502.681 us, Write time : 1042.171 us + 8.84sWARNros2_control_nodeOverrun might occur, Total time : 1822.907 us (Expected < 1666.667 us) --> Read time : 278.055 us, Update time : 502.681 us, Write time : 1042.171 us[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585622 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585622 ms (missed cycles : 3).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625526 ms (missed cycles : 3). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625526 ms (missed cycles : 3).[0m ×2 + 10.09sWARNcontroller_managerOverrun might occur, Total time : 1967.500 us (Expected < 1666.667 us) --> Read time : 203.915 us, Update time : 27.890 us, Write time : 1735.695 us + 10.09sWARNros2_control_nodeOverrun might occur, Total time : 1967.500 us (Expected < 1666.667 us) --> Read time : 203.915 us, Update time : 27.890 us, Write time : 1735.695 us[0m ×2 + 10.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.49sINFOros2_control_node[2026-06-04 21:05:04.869] [info] Received new action goal ×2 + 10.49sINFOros2_control_node[2026-06-04 21:05:04.869] [info] Accepted new action goal ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668415 ms (missed cycles : 3). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668415 ms (missed cycles : 3).[0m ×2 + 11.19sWARNcontroller_managerOverrun might occur, Total time : 1765.466 us (Expected < 1666.667 us) --> Read time : 728.905 us, Update time : 85.902 us, Write time : 950.659 us + 11.19sWARNros2_control_nodeOverrun might occur, Total time : 1765.466 us (Expected < 1666.667 us) --> Read time : 728.905 us, Update time : 85.902 us, Write time : 950.659 us[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012030 ms (missed cycles : 5). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012030 ms (missed cycles : 5).[0m ×2 + 12.26sWARNcontroller_managerOverrun might occur, Total time : 1895.919 us (Expected < 1666.667 us) --> Read time : 242.585 us, Update time : 1166.214 us, Write time : 487.120 us + 12.26sWARNros2_control_nodeOverrun might occur, Total time : 1895.919 us (Expected < 1666.667 us) --> Read time : 242.585 us, Update time : 1166.214 us, Write time : 487.120 us[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298866 ms (missed cycles : 4). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298866 ms (missed cycles : 4).[0m ×2 + 13.27sWARNcontroller_managerOverrun might occur, Total time : 2700.905 us (Expected < 1666.667 us) --> Read time : 196.584 us, Update time : 72.951 us, Write time : 2431.370 us + 13.27sWARNros2_control_nodeOverrun might occur, Total time : 2700.905 us (Expected < 1666.667 us) --> Read time : 196.584 us, Update time : 72.951 us, Write time : 2431.370 us[0m ×2 + 13.45sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.46sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.49sINFOros2_control_node[2026-06-04 21:05:07.871] [info] Received new action goal ×2 + 13.49sINFOros2_control_node[2026-06-04 21:05:07.871] [info] Accepted new action goal ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683786 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683786 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun might occur, Total time : 6053.223 us (Expected < 1666.667 us) --> Read time : 221.625 us, Update time : 5357.429 us, Write time : 474.169 us + 14.61sWARNros2_control_nodeOverrun might occur, Total time : 6053.223 us (Expected < 1666.667 us) --> Read time : 221.625 us, Update time : 5357.429 us, Write time : 474.169 us[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201779 ms (missed cycles : 4). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201779 ms (missed cycles : 4).[0m ×2 + 15.71sWARNcontroller_managerOverrun might occur, Total time : 1674.904 us (Expected < 1666.667 us) --> Read time : 175.404 us, Update time : 122.012 us, Write time : 1377.488 us + 15.71sWARNros2_control_nodeOverrun might occur, Total time : 1674.904 us (Expected < 1666.667 us) --> Read time : 175.404 us, Update time : 122.012 us, Write time : 1377.488 us[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168448 ms (missed cycles : 4). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168448 ms (missed cycles : 4).[0m ×2 + 16.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.47sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.47sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.47sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 16.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.47sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 16.86sWARNcontroller_managerOverrun might occur, Total time : 1676.233 us (Expected < 1666.667 us) --> Read time : 339.216 us, Update time : 499.250 us, Write time : 837.767 us + 16.86sWARNros2_control_nodeOverrun might occur, Total time : 1676.233 us (Expected < 1666.667 us) --> Read time : 339.216 us, Update time : 499.250 us, Write time : 837.767 us[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702205 ms (missed cycles : 6). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702205 ms (missed cycles : 6).[0m ×2 + 17.98sWARNcontroller_managerOverrun might occur, Total time : 1822.457 us (Expected < 1666.667 us) --> Read time : 230.825 us, Update time : 88.922 us, Write time : 1502.710 us + 17.98sWARNros2_control_nodeOverrun might occur, Total time : 1822.457 us (Expected < 1666.667 us) --> Read time : 230.825 us, Update time : 88.922 us, Write time : 1502.710 us[0m ×2 + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725893 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725893 ms (missed cycles : 3).[0m ×2 + 19.04sWARNcontroller_managerOverrun might occur, Total time : 1691.914 us (Expected < 1666.667 us) --> Read time : 240.075 us, Update time : 446.449 us, Write time : 1005.390 us + 19.05sWARNros2_control_nodeOverrun might occur, Total time : 1691.914 us (Expected < 1666.667 us) --> Read time : 240.075 us, Update time : 446.449 us, Write time : 1005.390 us[0m ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770362 ms (missed cycles : 2). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770362 ms (missed cycles : 2).[0m ×2 + 20.35sWARNcontroller_managerOverrun might occur, Total time : 2081.872 us (Expected < 1666.667 us) --> Read time : 904.798 us, Update time : 142.413 us, Write time : 1034.661 us + 20.35sWARNros2_control_nodeOverrun might occur, Total time : 2081.872 us (Expected < 1666.667 us) --> Read time : 904.798 us, Update time : 142.413 us, Write time : 1034.661 us[0m ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119331 ms (missed cycles : 4). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.119331 ms (missed cycles : 4).[0m ×2 + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189026 ms (missed cycles : 2). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189026 ms (missed cycles : 2).[0m ×2 + 21.44sWARNcontroller_managerOverrun might occur, Total time : 1796.826 us (Expected < 1666.667 us) --> Read time : 274.576 us, Update time : 1072.021 us, Write time : 450.229 us + 21.44sWARNros2_control_nodeOverrun might occur, Total time : 1796.826 us (Expected < 1666.667 us) --> Read time : 274.576 us, Update time : 1072.021 us, Write time : 450.229 us[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073232 ms (missed cycles : 5). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073232 ms (missed cycles : 5).[0m ×2 + 23.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.22sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.22sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.22sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.22sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.36sWARNcontroller_managerOverrun might occur, Total time : 1877.698 us (Expected < 1666.667 us) --> Read time : 214.515 us, Update time : 1043.511 us, Write time : 619.672 us + 23.37sWARNros2_control_nodeOverrun might occur, Total time : 1877.698 us (Expected < 1666.667 us) --> Read time : 214.515 us, Update time : 1043.511 us, Write time : 619.672 us[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058888 ms (missed cycles : 5). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058888 ms (missed cycles : 5).[0m ×2 + 24.20sINFOros2_control_node[2026-06-04 21:05:18.581] [info] Received new action goal ×2 + 24.20sINFOros2_control_node[2026-06-04 21:05:18.581] [info] Accepted new action goal ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583391 ms (missed cycles : 3). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583391 ms (missed cycles : 3).[0m ×2 + 24.67sWARNcontroller_managerOverrun might occur, Total time : 1777.586 us (Expected < 1666.667 us) --> Read time : 204.334 us, Update time : 138.893 us, Write time : 1434.359 us + 24.67sWARNros2_control_nodeOverrun might occur, Total time : 1777.586 us (Expected < 1666.667 us) --> Read time : 204.334 us, Update time : 138.893 us, Write time : 1434.359 us[0m ×2 + 25.37sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.38sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.102049 ms (missed cycles : 8). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.102049 ms (missed cycles : 8).[0m ×2 + 25.67sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.70sINFOros2_control_node[2026-06-04 21:05:20.083] [info] Received new action goal ×2 + 25.70sINFOros2_control_node[2026-06-04 21:05:20.083] [info] Accepted new action goal ×2 + 25.87sWARNcontroller_managerOverrun might occur, Total time : 5112.624 us (Expected < 1666.667 us) --> Read time : 4558.433 us, Update time : 97.922 us, Write time : 456.269 us + 25.87sWARNros2_control_nodeOverrun might occur, Total time : 5112.624 us (Expected < 1666.667 us) --> Read time : 4558.433 us, Update time : 97.922 us, Write time : 456.269 us[0m ×2 + 26.52sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.30% of iterations over budget over 2:10.007 of wall time (519/39966). Consistently above 1% means the model timestep should be raised.[0m ×2 + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853262 ms (missed cycles : 2). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853262 ms (missed cycles : 2).[0m ×2 + 27.24sWARNcontroller_managerOverrun might occur, Total time : 2184.594 us (Expected < 1666.667 us) --> Read time : 860.287 us, Update time : 86.802 us, Write time : 1237.505 us + 27.25sWARNros2_control_nodeOverrun might occur, Total time : 2184.594 us (Expected < 1666.667 us) --> Read time : 860.287 us, Update time : 86.802 us, Write time : 1237.505 us[0m ×2 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786415 ms (missed cycles : 6). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786415 ms (missed cycles : 6).[0m ×2 + 27.83sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 27.83sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.85sINFOros2_control_node[2026-06-04 21:05:22.232] [info] Received new action goal ×2 + 27.85sINFOros2_control_node[2026-06-04 21:05:22.232] [info] Accepted new action goal ×2 + 28.54sWARNcontroller_managerOverrun might occur, Total time : 2375.858 us (Expected < 1666.667 us) --> Read time : 251.175 us, Update time : 1687.734 us, Write time : 436.949 us + 28.55sWARNros2_control_nodeOverrun might occur, Total time : 2375.858 us (Expected < 1666.667 us) --> Read time : 251.175 us, Update time : 1687.734 us, Write time : 436.949 us[0m ×2 + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739453 ms (missed cycles : 2). + 28.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739453 ms (missed cycles : 2).[0m ×2 + 29.64sWARNcontroller_managerOverrun might occur, Total time : 2779.166 us (Expected < 1666.667 us) --> Read time : 355.137 us, Update time : 1823.207 us, Write time : 600.822 us + 29.64sWARNros2_control_nodeOverrun might occur, Total time : 2779.166 us (Expected < 1666.667 us) --> Read time : 355.137 us, Update time : 1823.207 us, Write time : 600.822 us[0m ×2 + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701109 ms (missed cycles : 3). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701109 ms (missed cycles : 3).[0m ×2 + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235207 ms (missed cycles : 6). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235207 ms (missed cycles : 6).[0m ×2 + 30.86sWARNcontroller_managerOverrun might occur, Total time : 5120.614 us (Expected < 1666.667 us) --> Read time : 341.257 us, Update time : 4101.703 us, Write time : 677.654 us + 30.86sWARNros2_control_nodeOverrun might occur, Total time : 5120.614 us (Expected < 1666.667 us) --> Read time : 341.257 us, Update time : 4101.703 us, Write time : 677.654 us[0m ×2 + 30.93sINFOros2_control_node[2026-06-04 21:05:25.311] [info] Received new action goal ×2 + 30.93sINFOros2_control_node[2026-06-04 21:05:25.311] [info] Accepted new action goal ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436238 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436238 ms (missed cycles : 2).[0m ×2 + 31.95sWARNcontroller_managerOverrun might occur, Total time : 1849.267 us (Expected < 1666.667 us) --> Read time : 225.164 us, Update time : 511.560 us, Write time : 1112.543 us + 31.95sWARNros2_control_nodeOverrun might occur, Total time : 1849.267 us (Expected < 1666.667 us) --> Read time : 225.164 us, Update time : 511.560 us, Write time : 1112.543 us[0m ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649838 ms (missed cycles : 3). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649838 ms (missed cycles : 3).[0m ×2 + 33.01sWARNcontroller_managerOverrun might occur, Total time : 1855.137 us (Expected < 1666.667 us) --> Read time : 698.464 us, Update time : 184.914 us, Write time : 971.759 us + 33.02sWARNros2_control_nodeOverrun might occur, Total time : 1855.137 us (Expected < 1666.667 us) --> Read time : 698.464 us, Update time : 184.914 us, Write time : 971.759 us[0m ×2 + 33.51sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 33.52sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.57sINFOros2_control_node[2026-06-04 21:05:27.955] [info] Received new action goal ×2 + 33.57sINFOros2_control_node[2026-06-04 21:05:27.955] [info] Accepted new action goal ×2 + 33.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336725 ms (missed cycles : 3). + 33.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336725 ms (missed cycles : 3).[0m ×2 + 34.17sWARNcontroller_managerOverrun might occur, Total time : 3971.370 us (Expected < 1666.667 us) --> Read time : 158.233 us, Update time : 3298.037 us, Write time : 515.100 us + 34.18sWARNros2_control_nodeOverrun might occur, Total time : 3971.370 us (Expected < 1666.667 us) --> Read time : 158.233 us, Update time : 3298.037 us, Write time : 515.100 us[0m ×2 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819052 ms (missed cycles : 3). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819052 ms (missed cycles : 3).[0m ×2 + 35.17sWARNcontroller_managerOverrun might occur, Total time : 2687.034 us (Expected < 1666.667 us) --> Read time : 459.849 us, Update time : 637.503 us, Write time : 1589.682 us + 35.17sWARNros2_control_nodeOverrun might occur, Total time : 2687.034 us (Expected < 1666.667 us) --> Read time : 459.849 us, Update time : 637.503 us, Write time : 1589.682 us[0m ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041754 ms (missed cycles : 2). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041754 ms (missed cycles : 2).[0m ×2 + 36.19sWARNcontroller_managerOverrun might occur, Total time : 4966.511 us (Expected < 1666.667 us) --> Read time : 200.444 us, Update time : 52.751 us, Write time : 4713.316 us + 36.19sWARNros2_control_nodeOverrun might occur, Total time : 4966.511 us (Expected < 1666.667 us) --> Read time : 200.444 us, Update time : 52.751 us, Write time : 4713.316 us[0m ×2 + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720105 ms (missed cycles : 6). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720105 ms (missed cycles : 6).[0m ×2 + 37.26sWARNcontroller_managerOverrun might occur, Total time : 2158.994 us (Expected < 1666.667 us) --> Read time : 182.574 us, Update time : 1394.358 us, Write time : 582.062 us + 37.26sWARNros2_control_nodeOverrun might occur, Total time : 2158.994 us (Expected < 1666.667 us) --> Read time : 182.574 us, Update time : 1394.358 us, Write time : 582.062 us[0m ×2 + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513252 ms (missed cycles : 3). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513252 ms (missed cycles : 3).[0m ×2 + 38.39sWARNcontroller_managerOverrun might occur, Total time : 1681.404 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 78.351 us, Write time : 1317.937 us + 38.39sWARNros2_control_nodeOverrun might occur, Total time : 1681.404 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 78.351 us, Write time : 1317.937 us[0m ×2 + 39.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.747846 ms (missed cycles : 6). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.747846 ms (missed cycles : 6).[0m ×2 + 39.66sWARNcontroller_managerOverrun might occur, Total time : 1727.855 us (Expected < 1666.667 us) --> Read time : 257.205 us, Update time : 827.877 us, Write time : 642.773 us + 39.66sWARNros2_control_nodeOverrun might occur, Total time : 1727.855 us (Expected < 1666.667 us) --> Read time : 257.205 us, Update time : 827.877 us, Write time : 642.773 us[0m ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673554 ms (missed cycles : 3). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673554 ms (missed cycles : 3).[0m ×2 + 40.86sWARNcontroller_managerOverrun might occur, Total time : 1905.209 us (Expected < 1666.667 us) --> Read time : 174.054 us, Update time : 1218.184 us, Write time : 512.971 us + 40.86sWARNros2_control_nodeOverrun might occur, Total time : 1905.209 us (Expected < 1666.667 us) --> Read time : 174.054 us, Update time : 1218.184 us, Write time : 512.971 us[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393882 ms (missed cycles : 3). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393882 ms (missed cycles : 3).[0m ×2 + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955988 ms (missed cycles : 2). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955988 ms (missed cycles : 2).[0m ×2 + 42.21sWARNcontroller_managerOverrun might occur, Total time : 1782.696 us (Expected < 1666.667 us) --> Read time : 253.505 us, Update time : 106.002 us, Write time : 1423.189 us + 42.22sWARNros2_control_nodeOverrun might occur, Total time : 1782.696 us (Expected < 1666.667 us) --> Read time : 253.505 us, Update time : 106.002 us, Write time : 1423.189 us[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892390 ms (missed cycles : 3). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892390 ms (missed cycles : 3).[0m ×2 + 43.31sWARNcontroller_managerOverrun might occur, Total time : 5307.987 us (Expected < 1666.667 us) --> Read time : 202.444 us, Update time : 4575.343 us, Write time : 530.200 us + 43.31sWARNros2_control_nodeOverrun might occur, Total time : 5307.987 us (Expected < 1666.667 us) --> Read time : 202.444 us, Update time : 4575.343 us, Write time : 530.200 us[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.282087 ms (missed cycles : 7). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.282087 ms (missed cycles : 7).[0m ×2 + 44.38sWARNcontroller_managerOverrun might occur, Total time : 2062.181 us (Expected < 1666.667 us) --> Read time : 312.756 us, Update time : 73.211 us, Write time : 1676.214 us + 44.39sWARNros2_control_nodeOverrun might occur, Total time : 2062.181 us (Expected < 1666.667 us) --> Read time : 312.756 us, Update time : 73.211 us, Write time : 1676.214 us[0m ×2 + 44.48sINFOros2_control_node[2026-06-04 21:05:38.861] [info] Received new action goal ×2 + 44.48sINFOros2_control_node[2026-06-04 21:05:38.861] [info] Accepted new action goal ×2 + 45.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110698 ms (missed cycles : 2). + 45.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110698 ms (missed cycles : 2).[0m ×2 + 45.52sWARNcontroller_managerOverrun might occur, Total time : 1947.220 us (Expected < 1666.667 us) --> Read time : 202.574 us, Update time : 691.504 us, Write time : 1053.142 us + 45.52sWARNros2_control_nodeOverrun might occur, Total time : 1947.220 us (Expected < 1666.667 us) --> Read time : 202.574 us, Update time : 691.504 us, Write time : 1053.142 us[0m ×2 + 45.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780607140.01701522 seconds ×3 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660985 ms (missed cycles : 3). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660985 ms (missed cycles : 3).[0m ×2 + 46.37sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780607140.74896431 seconds. ×3 + 46.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 46.72sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 46.79sWARNcontroller_managerOverrun might occur, Total time : 2228.725 us (Expected < 1666.667 us) --> Read time : 205.154 us, Update time : 1574.322 us, Write time : 449.249 us + 46.79sWARNros2_control_nodeOverrun might occur, Total time : 2228.725 us (Expected < 1666.667 us) --> Read time : 205.154 us, Update time : 1574.322 us, Write time : 449.249 us[0m ×2 + 47.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811847 ms (missed cycles : 3). + 47.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811847 ms (missed cycles : 3).[0m ×2 + 47.63sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 47.64sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.65sINFOros2_control_node[2026-06-04 21:05:42.034] [info] Received new action goal ×2 + 47.65sINFOros2_control_node[2026-06-04 21:05:42.034] [info] Accepted new action goal ×2 + 47.97sWARNcontroller_managerOverrun might occur, Total time : 3447.950 us (Expected < 1666.667 us) --> Read time : 2844.028 us, Update time : 90.092 us, Write time : 513.830 us + 47.98sWARNros2_control_nodeOverrun might occur, Total time : 3447.950 us (Expected < 1666.667 us) --> Read time : 2844.028 us, Update time : 90.092 us, Write time : 513.830 us[0m ×2 + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186495 ms (missed cycles : 2). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186495 ms (missed cycles : 2).[0m ×2 + 48.99sWARNcontroller_managerOverrun might occur, Total time : 1832.697 us (Expected < 1666.667 us) --> Read time : 233.525 us, Update time : 145.533 us, Write time : 1453.639 us + 48.99sWARNros2_control_nodeOverrun might occur, Total time : 1832.697 us (Expected < 1666.667 us) --> Read time : 233.525 us, Update time : 145.533 us, Write time : 1453.639 us[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 38.0s | 6111 errors · 255 warnings · 7237 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1934.639 us (Expected < 1666.667 us) --> Read time : 173.504 us, Update time : 798.846 us, Write time : 962.289 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1934.639 us (Expected < 1666.667 us) --> Read time : 173.504 us, Update time : 798.846 us, Write time : 962.289 us[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485571 ms (missed cycles : 3). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485571 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 1884.079 us (Expected < 1666.667 us) --> Read time : 164.144 us, Update time : 739.395 us, Write time : 980.540 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 1884.079 us (Expected < 1666.667 us) --> Read time : 164.144 us, Update time : 739.395 us, Write time : 980.540 us[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280915 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280915 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 2271.756 us (Expected < 1666.667 us) --> Read time : 292.146 us, Update time : 1509.060 us, Write time : 470.550 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 2271.756 us (Expected < 1666.667 us) --> Read time : 292.146 us, Update time : 1509.060 us, Write time : 470.550 us[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718503 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718503 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780607151.71918535 seconds ×3 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 2367.968 us (Expected < 1666.667 us) --> Read time : 446.699 us, Update time : 1151.074 us, Write time : 770.195 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 2367.968 us (Expected < 1666.667 us) --> Read time : 446.699 us, Update time : 1151.074 us, Write time : 770.195 us[0m ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188574 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188574 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607152.33767009 seconds. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.25sINFOros2_control_node[2026-06-04 21:05:52.512] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-04 21:05:52.512] [info] Accepted new action goal ×2 + 4.45sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 4.45sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2839.658 us (Expected < 1666.667 us) --> Read time : 298.086 us, Update time : 1514.821 us, Write time : 1026.751 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 2839.658 us (Expected < 1666.667 us) --> Read time : 298.086 us, Update time : 1514.821 us, Write time : 1026.751 us[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658822 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658822 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.53sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×4 + 5.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.59sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.80sWARNcontroller_managerOverrun might occur, Total time : 1775.776 us (Expected < 1666.667 us) --> Read time : 257.635 us, Update time : 897.099 us, Write time : 621.042 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 1775.776 us (Expected < 1666.667 us) --> Read time : 257.635 us, Update time : 897.099 us, Write time : 621.042 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415917 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415917 ms (missed cycles : 4).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791313 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791313 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun might occur, Total time : 3808.267 us (Expected < 1666.667 us) --> Read time : 225.464 us, Update time : 2914.439 us, Write time : 668.364 us + 6.92sWARNros2_control_nodeOverrun might occur, Total time : 3808.267 us (Expected < 1666.667 us) --> Read time : 225.464 us, Update time : 2914.439 us, Write time : 668.364 us[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289642 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289642 ms (missed cycles : 2).[0m ×2 + 7.96sWARNcontroller_managerOverrun might occur, Total time : 1764.486 us (Expected < 1666.667 us) --> Read time : 216.204 us, Update time : 902.149 us, Write time : 646.133 us + 7.96sWARNros2_control_nodeOverrun might occur, Total time : 1764.486 us (Expected < 1666.667 us) --> Read time : 216.204 us, Update time : 902.149 us, Write time : 646.133 us[0m ×2 + 8.55sINFOjoint_trajectory_controllerReceived new action goal ×2036 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000190182460662 + 8.55sINFOros2_control_nodeReceived new action goal[0m ×4072 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000190182460662[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062616972690 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062616972690[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000948673812574 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000948673812574[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896552977130 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896552977130[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215486161586 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215486161586[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051725595423 ×2 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051725595423[0m ×4 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195695454816 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000195695454816[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000374505992864 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000374505992864[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000699021942029 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000699021942029[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131907572593 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131907572593[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008920937165 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008920937165[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445966424463 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000445966424463[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692727746663 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692727746663[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000336113903624 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000336113903624[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302562426211 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000302562426211[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057535344383 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057535344383[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000214181321090 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000214181321090[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000216505346674 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000216505346674[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509300614706 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509300614706[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088497033053 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088497033053[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052044962241 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052044962241[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133558846214 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133558846214[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302036662528 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302036662528[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219300571745 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219300571745[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201332194837 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201332194837[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000128950328917 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000128950328917[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016262932222 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016262932222[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001624278979 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001624278979[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240150960155 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240150960155[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136805922962 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136805922962[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000607298554808 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000607298554808[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000524681832943 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000524681832943[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915531247630 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915531247630[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000513933589967 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000513933589967[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000190022418051 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000190022418051[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044373509953 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044373509953[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044484355623 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044484355623[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000253915509967 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000253915509967[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096948118036 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096948118036[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002797287082 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002797287082[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047641137067 ×2 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047641137067[0m ×4 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166761805297 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166761805297[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769644 ms (missed cycles : 4). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769644 ms (missed cycles : 4).[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067569986843 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067569986843[0m ×2 + 9.00sWARNcontroller_managerOverrun might occur, Total time : 1691.324 us (Expected < 1666.667 us) --> Read time : 215.364 us, Update time : 85.982 us, Write time : 1389.978 us + 9.00sWARNros2_control_nodeOverrun might occur, Total time : 1691.324 us (Expected < 1666.667 us) --> Read time : 215.364 us, Update time : 85.982 us, Write time : 1389.978 us[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000340975147446 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000340975147446[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038133177234 ×2 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038133177234[0m ×4 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182494097905 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182494097905[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174894965655 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174894965655[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279720262858 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279720262858[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241798807957 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241798807957[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025522914166 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025522914166[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000189656566318 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000189656566318[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000211341501257 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000211341501257[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042085218226 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042085218226[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095723173203 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095723173203[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000418491707106 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000418491707106[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153017779755 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000153017779755[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133751610353 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133751610353[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062758179835 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062758179835[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062495906783 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000062495906783[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217274463813 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217274463813[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161381182739 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161381182739[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058889217822 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058889217822[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023042060397 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023042060397[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000744146557 ×2 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000744146557[0m ×4 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081147500712 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081147500712[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037015641068 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037015641068[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009302429500 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009302429500[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034893305023 ×2 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034893305023[0m ×4 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000673570673323 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000673570673323[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000722018593552 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000722018593552[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464890127643 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464890127643[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139701206889 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139701206889[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074517402976 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074517402976[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182513359721 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182513359721[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075626475779 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075626475779[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140037091928 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140037091928[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000513573525630 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000513573525630[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666176244506 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666176244506[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175672544763 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175672544763[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013020591205 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013020591205[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049468088546 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049468088546[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000392087216234 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000392087216234[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029610070515 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029610070515[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220425932287 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220425932287[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000460664130492 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000460664130492[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000917566245416 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000917566245416[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834518634042 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000834518634042[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566943093107 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566943093107[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880862294335 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000880862294335[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001072172648318 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001072172648318[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001170032840054 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001170032840054[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001198943140616 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001198943140616[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195545451294 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195545451294[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001176806855230 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001176806855230[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681869068299 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001681869068299[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970506777200 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001970506777200[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577693447592 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577693447592[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632066490071 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632066490071[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001347587027591 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001347587027591[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164768879801 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164768879801[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001055767269348 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001055767269348[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000382476021061 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000382476021061[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001237010256005 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001237010256005[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001758716183714 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001758716183714[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511030989723 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511030989723[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333347784310 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333347784310[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001213069437613 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001213069437613[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136301019083 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001136301019083[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092110400390 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092110400390[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001069941152818 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001069941152818[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001062407981146 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001062407981146[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064644419007 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064644419007[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596173733060 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596173733060[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398225251150 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398225251150[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000531596412798 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000531596412798[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001139583253145 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001139583253145[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814850866683 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814850866683[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001609270844059 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001609270844059[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001453430615819 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001453430615819[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438672193085 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438672193085[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522573520151 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522573520151[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979841999023 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001979841999023[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666675451321 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666675451321[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001451091215260 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001451091215260[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312272372850 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312272372850[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682278130141 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682278130141[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001460434811043 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001460434811043[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536512051245 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536512051245[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866446 ms (missed cycles : 2).[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435595201558 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435595201558[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332597273783 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332597273783[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001268560364651 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001268560364651[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244316435069 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001244316435069[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001219091109786 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001219091109786[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596707510725 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001596707510725[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443228284666 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443228284666[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001342690363934 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001342690363934[0m ×2 + 10.07sWARNcontroller_managerOverrun might occur, Total time : 1770.166 us (Expected < 1666.667 us) --> Read time : 200.564 us, Update time : 210.764 us, Write time : 1358.838 us + 10.07sWARNros2_control_nodeOverrun might occur, Total time : 1770.166 us (Expected < 1666.667 us) --> Read time : 200.564 us, Update time : 210.764 us, Write time : 1358.838 us[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284487513125 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284487513125[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985821652986 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985821652986[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357326737499 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357326737499[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951665985626 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951665985626[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670954075473 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670954075473[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914276348264 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914276348264[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626528090252 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626528090252[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000738279084109 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000738279084109[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511810996435 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001511810996435[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001990854202323 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001990854202323[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703036556007 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703036556007[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000237264300657 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000237264300657[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653207901461 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653207901461[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557992730247 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557992730247[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673038753560 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673038753560[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002199433486031 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002199433486031[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001893208024563 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001893208024563[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696420640582 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696420640582[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001640882274914 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001640882274914[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638636900615 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638636900615[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002175119991152 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002175119991152[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867291380187 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867291380187[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001657065743048 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001657065743048[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002057339755837 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002057339755837[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764289398514 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764289398514[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001574410696047 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001574410696047[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459629047540 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001459629047540[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001953290812658 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001953290812658[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709452169842 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709452169842[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550066720889 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550066720889[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001953405431236 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001953405431236[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001705344439885 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001705344439885[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001668656114810 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001668656114810[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531507014909 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531507014909[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751583081049 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751583081049[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580757535174 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580757535174[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195991179317 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001195991179317[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002017067696570 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002017067696570[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507809959870 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507809959870[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358542169850 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358542169850[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106391657822 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002106391657822[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001942103872888 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001942103872888[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002166186971233 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002166186971233[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572804663560 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572804663560[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002151315224099 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002151315224099[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863518456786 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863518456786[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002333818012199 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002333818012199[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963930058359 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963930058359[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189823478631 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189823478631[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001864620486063 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001864620486063[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086430173396 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086430173396[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002467059280682 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002467059280682[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515843520007 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515843520007[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259959703076 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259959703076[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007437996863 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007437996863[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000645482039662 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000645482039662[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001747893399573 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001747893399573[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783946231445 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783946231445[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456721918083 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456721918083[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843695451186 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843695451186[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037793899463 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037793899463[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002452040533627 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002452040533627[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723463910407 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723463910407[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002059966395440 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002059966395440[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482445057304 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482445057304[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070875485477 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070875485477[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002303902979753 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002303902979753[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952560452581 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952560452581[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001734430560509 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001734430560509[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002288620675838 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002288620675838[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964528954197 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001964528954197[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440664308558 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440664308558[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003130269266 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003130269266[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490336286680 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490336286680[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111086332466 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111086332466[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546877159586 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546877159586[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134705971753 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134705971753[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869089954704 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001869089954704[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710710172807 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710710172807[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002307166955463 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002307166955463[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003136368249 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003136368249[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496117354714 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496117354714[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002118172145836 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002118172145836[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563530823520 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973219 ms (missed cycles : 4). + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563530823520[0m ×2 + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.973219 ms (missed cycles : 4).[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002153047377032 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002153047377032[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919400470090 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919400470090[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476205260545 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002476205260545[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824121234785 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824121234785[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862077604742 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862077604742[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357673291010 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357673291010[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719835544068 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719835544068[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246264061227 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002246264061227[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640998720072 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640998720072[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002194830763575 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002194830763575[0m ×2 + 11.09sWARNcontroller_managerOverrun might occur, Total time : 4034.822 us (Expected < 1666.667 us) --> Read time : 290.606 us, Update time : 3171.214 us, Write time : 573.002 us + 11.09sWARNros2_control_nodeOverrun might occur, Total time : 4034.822 us (Expected < 1666.667 us) --> Read time : 290.606 us, Update time : 3171.214 us, Write time : 573.002 us[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610472942368 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610472942368[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644435123301 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644435123301[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352717925661 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352717925661[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798429941261 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798429941261[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060586119179 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060586119179[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490426256847 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490426256847[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822647346623 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822647346623[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893875200078 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893875200078[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311273548324 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311273548324[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003600309504 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003600309504[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002554829103185 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002554829103185[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002903231565317 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002903231565317[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355053384414 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355053384414[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685175472630 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685175472630[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947520808672 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947520808672[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001460420990457 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001460420990457[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002303132792463 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002303132792463[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830759117805 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830759117805[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137788321001 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137788321001[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003299094282396 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003299094282396[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536932296258 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536932296258[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354724895765 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354724895765[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865577409913 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865577409913[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322741918148 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322741918148[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447082961448 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447082961448[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483921267845 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483921267845[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754135747548 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754135747548[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991993857978 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991993857978[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002251519020531 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002251519020531[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708140320322 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708140320322[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300350891652 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300350891652[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002017750429926 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002017750429926[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002569697274566 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002569697274566[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002926401424666 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002926401424666[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937962256523 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937962256523[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430435290016 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430435290016[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823736560139 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823736560139[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072923023291 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072923023291[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792628177566 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792628177566[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490895315716 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002490895315716[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933775960908 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933775960908[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003197186588517 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003197186588517[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659813420623 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659813420623[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627768418792 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627768418792[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847345231297 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847345231297[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061654456339 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061654456339[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196709818181 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196709818181[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276924766965 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003276924766965[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355641607665 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355641607665[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210841711790 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210841711790[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311115821145 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311115821145[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362993006643 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362993006643[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655882414555 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655882414555[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935143910964 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935143910964[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001745112619681 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001745112619681[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001950260055412 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001950260055412[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647223525381 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647223525381[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076985170869 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003076985170869[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322755453670 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322755453670[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446966277093 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446966277093[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496347458908 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496347458908[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963864636012 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963864636012[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794762386066 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794762386066[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656341015945 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656341015945[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550522615817 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550522615817[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473875233244 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473875233244[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421770324791 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421770324791[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433553337948 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433553337948[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395537041827 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395537041827[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373150965479 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373150965479[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361593717126 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361593717126[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357227345480 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357227345480[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360833381248 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360833381248[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065343575392 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065343575392[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662904854554 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662904854554[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002276047172320 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002276047172320[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002159479902002 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002159479902002[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148532953914 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002148532953914[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780984471646 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780984471646[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169111263988 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169111263988[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387565254458 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387565254458[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257706277908 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257706277908[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035355036233 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035355036233[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845620159449 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845620159449[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694395432811 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694395432811[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580913237236 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580913237236[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051921428229 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051921428229[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378064 ms (missed cycles : 4). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378064 ms (missed cycles : 4).[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797038980408 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797038980408[0m ×2 + 12.10sWARNcontroller_managerOverrun might occur, Total time : 1780.276 us (Expected < 1666.667 us) --> Read time : 603.702 us, Update time : 203.014 us, Write time : 973.560 us + 12.10sWARNros2_control_nodeOverrun might occur, Total time : 1780.276 us (Expected < 1666.667 us) --> Read time : 603.702 us, Update time : 203.014 us, Write time : 973.560 us[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860520261106 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860520261106[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908409322428 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908409322428[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002555319019043 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002555319019043[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342786597507 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342786597507[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092056404648 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092056404648[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563485017098 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563485017098[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175938908667 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175938908667[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889480831753 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889480831753[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687000207229 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687000207229[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550285468019 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550285468019[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462389014441 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462389014441[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411133953450 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411133953450[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731416999904 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731416999904[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634916737176 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634916737176[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004503333312607 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004503333312607[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100525834333 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100525834333[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816372597635 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816372597635[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624945315452 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624945315452[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501703457748 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501703457748[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427300441420 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427300441420[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898859598177 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898859598177[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898269548113 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898269548113[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717268880395 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717268880395[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588266235734 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588266235734[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501382050860 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501382050860[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444897303601 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444897303601[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750605041655 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750605041655[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010125894605 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010125894605[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415417512883 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415417512883[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996641222873 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996641222873[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468477909513 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468477909513[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008674827265 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008674827265[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873623138133 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873623138133[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669729551595 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669729551595[0m ×2 + 12.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003807109068197 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003807109068197[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061097535095 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061097535095[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821550273124 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821550273124[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007559102108 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007559102108[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377179126406 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377179126406[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942852780928 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942852780928[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657115883537 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657115883537[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479166348641 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003479166348641[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344155359221 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344155359221[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915284754438 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915284754438[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144546833782 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144546833782[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633915454252 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633915454252[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553821827278 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553821827278[0m ×2 + 12.59sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760619 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760619 ms (missed cycles : 2).[0m ×2 + 13.29sWARNcontroller_managerOverrun might occur, Total time : 6221.586 us (Expected < 1666.667 us) --> Read time : 227.985 us, Update time : 5455.440 us, Write time : 538.161 us + 13.30sWARNros2_control_nodeOverrun might occur, Total time : 6221.586 us (Expected < 1666.667 us) --> Read time : 227.985 us, Update time : 5455.440 us, Write time : 538.161 us[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.049998 ms (missed cycles : 5). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.049998 ms (missed cycles : 5).[0m ×2 + 14.39sWARNcontroller_managerOverrun might occur, Total time : 2317.537 us (Expected < 1666.667 us) --> Read time : 225.585 us, Update time : 674.054 us, Write time : 1417.898 us + 14.40sWARNros2_control_nodeOverrun might occur, Total time : 2317.537 us (Expected < 1666.667 us) --> Read time : 225.585 us, Update time : 674.054 us, Write time : 1417.898 us[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001218080064 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001218080064[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000407851184665 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000407851184665[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000789510942155 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000789510942155[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448133974973 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000448133974973[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013391755732 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013391755732[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000253877847557 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000253877847557[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222642643355 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222642643355[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096273222277 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096273222277[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057083247944 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057083247944[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424925546192 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000424925546192[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000515749900177 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000515749900177[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000667383093605 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000667383093605[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000898561474665 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000898561474665[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000459377342109 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000459377342109[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000718675670540 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000718675670540[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000420316561529 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000420316561529[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133396050601 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133396050601[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027076413238 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027076413238[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148014547341 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148014547341[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725759348021 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725759348021[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725734543849 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000725734543849[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316343062109 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316343062109[0m ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840195 ms (missed cycles : 4). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840195 ms (missed cycles : 4).[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120579134904 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120579134904[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008405079525 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008405079525[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115192012924 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115192012924[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137629355136 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137629355136[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135053301618 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135053301618[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438667945483 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438667945483[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000475322177486 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000475322177486[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000590994285709 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000590994285709[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162562907068 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162562907068[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041609808134 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041609808134[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027118793713 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027118793713[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000975825564091 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000975825564091[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523557129652 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523557129652[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129460534364 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129460534364[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257472055179 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000257472055179[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003523057720 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003523057720[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093349194475 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093349194475[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134088768303 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134088768303[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140999992931 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140999992931[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000196635427509 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000196635427509[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000196620458007 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000196620458007[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020448366855 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020448366855[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172277549732 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000172277549732[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091226297190 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091226297190[0m ×2 + 15.40sWARNcontroller_managerOverrun might occur, Total time : 2220.315 us (Expected < 1666.667 us) --> Read time : 156.643 us, Update time : 1628.603 us, Write time : 435.069 us + 15.41sWARNros2_control_nodeOverrun might occur, Total time : 2220.315 us (Expected < 1666.667 us) --> Read time : 156.643 us, Update time : 1628.603 us, Write time : 435.069 us[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039572862677 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039572862677[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000519340425727 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000519340425727[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303374563885 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000303374563885[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158692439110 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158692439110[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066341090698 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066341090698[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161353037619 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161353037619[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000190441393800 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000190441393800[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000117567959645 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000117567959645[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042493641480 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042493641480[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000769254653 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000769254653[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022967338331 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022967338331[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088316901726 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088316901726[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000421014287461 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000421014287461[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748460682512 ×2 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748460682512[0m ×4 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027299663164 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027299663164[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000295958144666 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000295958144666[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260000874384 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260000874384[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000292783249619 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000292783249619[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126282916497 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126282916497[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000103122715339 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000103122715339[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115851398201 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115851398201[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325757714247 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000325757714247[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199916014274 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199916014274[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401493014283 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401493014283[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001433106177491 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001433106177491[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379904499806 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379904499806[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000739883655140 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000739883655140[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074270473249 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074270473249[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000314694084185 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000314694084185[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278204370327 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000278204370327[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000448705254706 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000448705254706[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534278769869 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534278769869[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687962751179 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687962751179[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001429576181065 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001429576181065[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000564115255368 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000564115255368[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093808335813 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093808335813[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000188002313832 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000188002313832[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286739285828 ×2 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286739285828[0m ×4 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000221359204794 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000221359204794[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002154324220590 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002154324220590[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880161555061 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002880161555061[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632546908767 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001632546908767[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733319308739 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000733319308739[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149924529113 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000149924529113[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000150709421321 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000150709421321[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101381282681 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101381282681[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000246678826321 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000246678826321[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000257297115449 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000257297115449[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219231254493 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219231254493[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000303275650733 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000303275650733[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000322983710806 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000322983710806[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082933744606 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082933744606[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085342737480 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085342737480[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161755148901 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161755148901[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511668101239 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511668101239[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975438249569 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975438249569[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021560761316 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021560761316[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783025199468 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783025199468[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045979931562 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045979931562[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401357742299 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401357742299[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003331629707981 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003331629707981[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503154889034 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503154889034[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349664531934 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349664531934[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085573865250 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085573865250[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869834664568 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869834664568[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483433079191 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483433079191[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558690808324 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558690808324[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047758465802 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047758465802[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336675314287 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336675314287[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568333504866 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568333504866[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992420014962 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992420014962[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002628300875457 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682076 ms (missed cycles : 2). + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002628300875457[0m ×2 + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682076 ms (missed cycles : 2).[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425942105848 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425942105848[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054942136853 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054942136853[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771990974492 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771990974492[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000621569733797 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000621569733797[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768646505292 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768646505292[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000121709966252 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000121709966252[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390376640519 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390376640519[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000706503586187 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000706503586187[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568915313743 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568915313743[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161760456226 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161760456226[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894248564142 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894248564142[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166768260371 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166768260371[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006939056191422 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006939056191422[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866810410590 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866810410590[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005332327232791 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005332327232791[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009270203336 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009270203336[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642357712124 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642357712124[0m ×2 + 16.41sWARNcontroller_managerOverrun might occur, Total time : 2809.727 us (Expected < 1666.667 us) --> Read time : 251.075 us, Update time : 169.324 us, Write time : 2389.328 us + 16.41sWARNros2_control_nodeOverrun might occur, Total time : 2809.727 us (Expected < 1666.667 us) --> Read time : 251.075 us, Update time : 169.324 us, Write time : 2389.328 us[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592181126211 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592181126211[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004782138716 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004782138716[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002930631562393 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002930631562393[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742510845511 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742510845511[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623698015411 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623698015411[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547025271012 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547025271012[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264298981653 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264298981653[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003033292466098 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003033292466098[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846866028510 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846866028510[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464065094851 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464065094851[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334807705756 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334807705756[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311641483058 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311641483058[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827388260282 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827388260282[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820910668093 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820910668093[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404390638579 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404390638579[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191552967832 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191552967832[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513491233740 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513491233740[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002973604183036 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002973604183036[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746129913330 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746129913330[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726544838935 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726544838935[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553624006594 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553624006594[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003067171483331 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003067171483331[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764336798811 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764336798811[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561332213538 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561332213538[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592968852218 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592968852218[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001733887071810 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001733887071810[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351564100330 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351564100330[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002971074690457 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002971074690457[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041415372516 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041415372516[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831599053151 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831599053151[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762950503023 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003762950503023[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305162741570 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305162741570[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392781934205 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003392781934205[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001445471210048 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001445471210048[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000720582886160 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000720582886160[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122211928399 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122211928399[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532389200185 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532389200185[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865668997518 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865668997518[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555121169633 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003555121169633[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282545808094 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282545808094[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933126310373 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933126310373[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251875814106 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003251875814106[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978107068921 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978107068921[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898923492558 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898923492558[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001385282997478 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001385282997478[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034516607582 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034516607582[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958889435889 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958889435889[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003330671387810 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003330671387810[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902620149202 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002902620149202[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300791281813 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300791281813[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002892058788526 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002892058788526[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748765124622 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748765124622[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196429961893 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196429961893[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002816910090710 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002816910090710[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001240854255285 ×2 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001240854255285[0m ×4 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000216298408657 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000216298408657[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223775549877 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223775549877[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234751873893 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234751873893[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841437493017 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841437493017[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547728722445 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547728722445[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822844329323 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822844329323[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821073859038 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821073859038[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002415091890247 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002415091890247[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567604003204 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003567604003204[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190134943885 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190134943885[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444164623023 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003444164623023[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898364083422 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898364083422[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547869767482 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002547869767482[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470878531785 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470878531785[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928123765548 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928123765548[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002600996940863 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002600996940863[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000429531173044 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000429531173044[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891412845101 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891412845101[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639919001701 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639919001701[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001603382691623 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001603382691623[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185610897758 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185610897758[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741940541995 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741940541995[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005643735980692 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005643735980692[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562796 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562796 ms (missed cycles : 3).[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255225010079 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255225010079[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129658182291 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129658182291[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002159901373592 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002159901373592[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989918658818 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000989918658818[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642241623456 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642241623456[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865890404165 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865890404165[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871786494622 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871786494622[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003302846656765 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003302846656765[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168003675299 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168003675299[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185947413673 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185947413673[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000727814405428 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000727814405428[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420829084246 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420829084246[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006454087616460 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006454087616460[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486355232299 ×2 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003486355232299[0m ×4 + 17.45sWARNcontroller_managerOverrun might occur, Total time : 2689.354 us (Expected < 1666.667 us) --> Read time : 201.294 us, Update time : 1981.280 us, Write time : 506.780 us + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001564603983008 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001564603983008[0m ×2 + 17.46sWARNros2_control_nodeOverrun might occur, Total time : 2689.354 us (Expected < 1666.667 us) --> Read time : 201.294 us, Update time : 1981.280 us, Write time : 506.780 us[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558192368974 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558192368974[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550907221891 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550907221891[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073933284895 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073933284895[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001286051358503 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001286051358503[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988559023286 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988559023286[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474595082468 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474595082468[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158103229282 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004158103229282[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004448513623236 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004448513623236[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581102670429 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581102670429[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573406587265 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573406587265[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512893686785 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512893686785[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861532907843 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861532907843[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042873689895 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042873689895[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575446724621 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575446724621[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893919799807 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893919799807[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491994272990 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491994272990[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282032816614 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282032816614[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002753650941643 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002753650941643[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482700872429 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003482700872429[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367612676083 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367612676083[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002378101146067 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002378101146067[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235324829450 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235324829450[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002882592737138 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002882592737138[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354817135974 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354817135974[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003385537722487 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003385537722487[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942925129053 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942925129053[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282768418306 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282768418306[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895751672498 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895751672498[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790436876924 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790436876924[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041755018815 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041755018815[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182939702241 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182939702241[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646436569299 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646436569299[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002422927986635 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002422927986635[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001915176177555 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001915176177555[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204396494074 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204396494074[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001855479415759 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001855479415759[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498526625539 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498526625539[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452693817108 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452693817108[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979222301737 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979222301737[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237452951495 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237452951495[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337984321397 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337984321397[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394824721691 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394824721691[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760582646637 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760582646637[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083388627829 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083388627829[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202531841192 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202531841192[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634262385435 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634262385435[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831380011049 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002831380011049[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458674942066 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458674942066[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823891152202 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823891152202[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020175308020 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020175308020[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165652505611 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165652505611[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615727264108 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003615727264108[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934682127731 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934682127731[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119694554578 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119694554578[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002608050507787 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002608050507787[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325821490924 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325821490924[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751725963536 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751725963536[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987018761417 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987018761417[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958038804532 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002958038804532[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470441054367 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470441054367[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786011976432 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003786011976432[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962381959808 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962381959808[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047281538037 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047281538037[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149294256472 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149294256472[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730063082116 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730063082116[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002819723272143 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002819723272143[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414377686658 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414377686658[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778814598225 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778814598225[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393582110202 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393582110202[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003705545091265 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003705545091265[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883228381740 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883228381740[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973713295761 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973713295761[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275316086119 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275316086119[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295809295399 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295809295399[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604002938458 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604002938458[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770581976949 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770581976949[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036379 ms (missed cycles : 4). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036379 ms (missed cycles : 4).[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864204467219 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864204467219[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001008988364989 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001008988364989[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725114741450 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001725114741450[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764396175212 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764396175212[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416231285324 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416231285324[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784196408362 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784196408362[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963565833612 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963565833612[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021060866384 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004021060866384[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563609647285 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563609647285[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083621956471 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083621956471[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457119593996 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457119593996[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675658527040 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675658527040[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671720230344 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671720230344[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529184852412 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529184852412[0m ×2 + 18.47sWARNcontroller_managerOverrun might occur, Total time : 3397.019 us (Expected < 1666.667 us) --> Read time : 307.346 us, Update time : 82.792 us, Write time : 3006.881 us + 18.47sWARNros2_control_nodeOverrun might occur, Total time : 3397.019 us (Expected < 1666.667 us) --> Read time : 307.346 us, Update time : 82.792 us, Write time : 3006.881 us[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686404097518 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686404097518[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002174622357755 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002174622357755[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002387238792165 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002387238792165[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193360041053 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003193360041053[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646579992978 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646579992978[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880649169543 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880649169543[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980621747692 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980621747692[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273408371429 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002273408371429[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050090972286 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003050090972286[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498688318365 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498688318365[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742762938992 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742762938992[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861240390343 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003861240390343[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472228129312 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472228129312[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814170268609 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814170268609[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421233238091 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421233238091[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139834374989 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139834374989[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949452090795 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949452090795[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831982047886 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003831982047886[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766150511614 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766150511614[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735433590476 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735433590476[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003718183395603 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003718183395603[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709827501791 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709827501791[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002844922466108 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002844922466108[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133801742644 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133801742644[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432303466648 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432303466648[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117695737991 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004117695737991[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932387518930 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932387518930[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803634412391 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803634412391[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719118093446 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719118093446[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676024285628 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676024285628[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646995371661 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003646995371661[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628256268960 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628256268960[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620296240737 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003620296240737[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168630041163 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168630041163[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865909504278 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865909504278[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184189779894 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184189779894[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260912575753 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260912575753[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606409052551 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606409052551[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151999541858 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151999541858[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731146864156 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731146864156[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835018557028 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835018557028[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586938565847 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586938565847[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058186903475 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058186903475[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789614037997 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789614037997[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654785585288 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654785585288[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152026214331 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152026214331[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825054123292 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825054123292[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619778793251 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619778793251[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497215549799 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497215549799[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840715324349 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840715324349[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184505177568 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184505177568[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823217377452 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823217377452[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284980355207 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284980355207[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894818005876 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894818005876[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655250453185 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655250453185[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003507410898524 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003507410898524[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828069438424 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828069438424[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153416085610 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153416085610[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092423230807 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092423230807[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905743017756 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003905743017756[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940083499562 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940083499562[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265459819462 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265459819462[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094740545798 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094740545798[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323909691691 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323909691691[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482064387340 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004482064387340[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326465195402 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326465195402[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462529562405 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462529562405[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005245970526689 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005245970526689[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391998313188 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391998313188[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836839397735 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836839397735[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781717125040 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781717125040[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017483687583 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017483687583[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571574471895 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571574471895[0m ×2 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875221 ms (missed cycles : 3). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875221 ms (missed cycles : 3).[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604480637103 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604480637103[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350489028637 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350489028637[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474435920478 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474435920478[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495039010125 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495039010125[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224024042325 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224024042325[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385060389475 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385060389475[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045735015551 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005045735015551[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172065901875 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172065901875[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838205995988 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004838205995988[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000846570042 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000846570042[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004727191202697 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004727191202697[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936051951670 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936051951670[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182327972053 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182327972053[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548829247354 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548829247354[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333106943159 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333106943159[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910019129901 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910019129901[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280829278165 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005280829278165[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304820655562 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304820655562[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872769877249 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872769877249[0m ×2 + 19.50sWARNcontroller_managerOverrun might occur, Total time : 4577.454 us (Expected < 1666.667 us) --> Read time : 167.944 us, Update time : 3885.289 us, Write time : 524.221 us + 19.50sWARNros2_control_nodeOverrun might occur, Total time : 4577.454 us (Expected < 1666.667 us) --> Read time : 167.944 us, Update time : 3885.289 us, Write time : 524.221 us[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077594000975 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077594000975[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003266452648485 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003266452648485[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127251734726 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127251734726[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710446450290 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710446450290[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393735713390 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393735713390[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004078212055095 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004078212055095[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004602485897997 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004602485897997[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004916956394838 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004916956394838[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986094231328 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986094231328[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528575562180 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528575562180[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812076214999 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812076214999[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879676086980 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879676086980[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412435963494 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412435963494[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700220754024 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700220754024[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757110 ms (missed cycles : 3). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757110 ms (missed cycles : 3).[0m ×2 + 20.57sWARNcontroller_managerOverrun might occur, Total time : 2124.983 us (Expected < 1666.667 us) --> Read time : 155.783 us, Update time : 61.232 us, Write time : 1907.968 us + 20.57sWARNros2_control_nodeOverrun might occur, Total time : 2124.983 us (Expected < 1666.667 us) --> Read time : 155.783 us, Update time : 61.232 us, Write time : 1907.968 us[0m ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708104 ms (missed cycles : 2). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708104 ms (missed cycles : 2).[0m ×2 + 21.59sWARNcontroller_managerOverrun might occur, Total time : 2524.121 us (Expected < 1666.667 us) --> Read time : 1904.038 us, Update time : 99.832 us, Write time : 520.251 us + 21.60sWARNros2_control_nodeOverrun might occur, Total time : 2524.121 us (Expected < 1666.667 us) --> Read time : 1904.038 us, Update time : 99.832 us, Write time : 520.251 us[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043748843557127 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043748843557127[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027390028350653 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027390028350653[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015048329124439 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015048329124439[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006967503576248 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006967503576248[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002057918576090 ×2 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002057918576090[0m ×4 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000767883043426 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000767883043426[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002149359533407 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002149359533407[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026533060456689 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026533060456689[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114439734357 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114439734357[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122961758141 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000122961758141[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001374338411580 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001374338411580[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002130215378695 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002130215378695[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019440404656379 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019440404656379[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270792850581 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270792850581[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000193364164401 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000193364164401[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000699405805232 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000699405805232[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001253402482800 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001253402482800[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001253249809147 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001253249809147[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001402261984341 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001402261984341[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001324377179514 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001324377179514[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000947155418555 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000947155418555[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015115838708786 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015115838708786[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022360037311511 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022360037311511[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013334589194516 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013334589194516[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441098530716 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441098530716[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001749143680387 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001749143680387[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000741254567863 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000741254567863[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001106969847861 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001106969847861[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001174378345687 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001174378345687[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033938261048303 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033938261048303[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034463348240982 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034463348240982[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038428890984647 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038428890984647[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023428467913030 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023428467913030[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014107440725365 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014107440725365[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014759269768355 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014759269768355[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012461820722131 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012461820722131[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799690961673 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799690961673[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000877826039942 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000877826039942[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001316320087142 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001316320087142[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002312785623207 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002312785623207[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002743445670548 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002743445670548[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002743214832461 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002743214832461[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002528414259758 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002528414259758[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002136902063359 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002136902063359[0m ×2 + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127774 ms (missed cycles : 2). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127774 ms (missed cycles : 2).[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001660749715706 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001660749715706[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001073861452242 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001073861452242[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000815841595021 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000815841595021[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000517372075030 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000517372075030[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000706662487488 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000706662487488[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000777747277906 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000777747277906[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461836560457 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461836560457[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619798677929 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003619798677929[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601616755871 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601616755871[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000808439740216 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000808439740216[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211378472353 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211378472353[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079858206510 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079858206510[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222839331645 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222839331645[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079163860431 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079163860431[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120967916155 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120967916155[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000141473875516 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000141473875516[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120953529464 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120953529464[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123197031445 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123197031445[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111043851554 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111043851554[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000505390069891 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000505390069891[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003702292207694 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003702292207694[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212332800973 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212332800973[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011716671103992 ×2 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011716671103992[0m ×4 + 22.61sWARNcontroller_managerOverrun might occur, Total time : 4465.911 us (Expected < 1666.667 us) --> Read time : 1637.243 us, Update time : 102.302 us, Write time : 2726.366 us + 22.61sWARNros2_control_nodeOverrun might occur, Total time : 4465.911 us (Expected < 1666.667 us) --> Read time : 1637.243 us, Update time : 102.302 us, Write time : 2726.366 us[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994598062724 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994598062724[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000467091207985 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000467091207985[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000214741593201 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000214741593201[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000672955702133 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000672955702133[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000756065001335 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000756065001335[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000774443393549 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000774443393549[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000819417896898 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000819417896898[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000350960628413 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000350960628413[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025761497255 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025761497255[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064882673876 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064882673876[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089127855662 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089127855662[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101294461469 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101294461469[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101381754492 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101381754492[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994272579203 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994272579203[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002325478430814 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002325478430814[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000115606297045 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000115606297045[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001471178472007 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001471178472007[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771909010822 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001771909010822[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002504021730605 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002504021730605[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518983407834 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518983407834[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001480894023311 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001480894023311[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002195277859852 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002195277859852[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568911835574 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568911835574[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002732002075663 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002732002075663[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526825180606 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526825180606[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481092350658 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481092350658[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739554951026 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739554951026[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210904250115 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210904250115[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858829312712 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858829312712[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643726263992 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643726263992[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002525950234574 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002525950234574[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474521031187 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002474521031187[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743066844578 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743066844578[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205566193379 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205566193379[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862051019773 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862051019773[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656811496727 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656811496727[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092832396967 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092832396967[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798216605867 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002798216605867[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002626333023402 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002626333023402[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533801680909 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533801680909[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580502280000 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002580502280000[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985575002661 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985575002661[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462759957154 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003462759957154[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091118624745 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003091118624745[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840180872338 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840180872338[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680904738014 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002680904738014[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477295087743 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477295087743[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052049964599 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052049964599[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069730416189 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069730416189[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839515611963 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839515611963[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690463211199 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690463211199[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878845934724 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878845934724[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288937333491 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288937333491[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518456036712 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518456036712[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041716886455 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041716886455[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558669149314 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558669149314[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106408789946 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106408789946[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211413216820 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211413216820[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561285970358 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561285970358[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113714381863 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113714381863[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823469293726 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823469293726[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880138522739 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880138522739[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324464663473 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324464663473[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753410711130 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753410711130[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196469783102 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196469783102[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839427189983 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839427189983[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002628207644274 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002628207644274[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787775345159 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787775345159[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194198286007 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194198286007[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825867965388 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825867965388[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246132968137 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246132968137[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002860775242845 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002860775242845[0m ×2 + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903117 ms (missed cycles : 3). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903117 ms (missed cycles : 3).[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636995665641 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636995665641[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935806618148 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935806618148[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003107875614593 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003107875614593[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170951121745 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170951121745[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786917575747 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786917575747[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669846948466 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669846948466[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963638586898 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963638586898[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369639023699 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369639023699[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886567071013 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886567071013[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920102691297 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920102691297[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268464781884 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268464781884[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869959821155 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869959821155[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893653953641 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893653953641[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014930957322 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014930957322[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355270914001 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355270914001[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950387637184 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950387637184[0m ×2 + 23.62sWARNcontroller_managerOverrun might occur, Total time : 3245.936 us (Expected < 1666.667 us) --> Read time : 191.854 us, Update time : 2425.819 us, Write time : 628.263 us + 23.62sWARNros2_control_nodeOverrun might occur, Total time : 3245.936 us (Expected < 1666.667 us) --> Read time : 191.854 us, Update time : 2425.819 us, Write time : 628.263 us[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615896126140 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615896126140[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183402945174 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003183402945174[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275460283311 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275460283311[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844029154848 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844029154848[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898662099210 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898662099210[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310041270446 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310041270446[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517145486672 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517145486672[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016236065353 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016236065353[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959362220919 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003959362220919[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329867876880 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329867876880[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515642210962 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515642210962[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302533217137 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302533217137[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876897485647 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876897485647[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979859672930 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979859672930[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502724105752 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502724105752[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262280031076 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262280031076[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970776103251 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970776103251[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159662193525 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159662193525[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918385642692 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918385642692[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157809602950 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157809602950[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508951081361 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508951081361[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291591468742 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291591468742[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196262058404 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196262058404[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417001356223 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417001356223[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155696387939 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155696387939[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620735202333 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004620735202333[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677536888180 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677536888180[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003075512115249 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003075512115249[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921936176519 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921936176519[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231927191058 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231927191058[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012192283225 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012192283225[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268981150870 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003268981150870[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036942519151 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036942519151[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327946054175 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327946054175[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071390900626 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071390900626[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329423668910 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003329423668910[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051689569730 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051689569730[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003302771830175 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003302771830175[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028425412407 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004028425412407[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381931464760 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381931464760[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078894804020 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078894804020[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927792853856 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927792853856[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590195070203 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590195070203[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720066789665 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720066789665[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332536671222 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332536671222[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646144558112 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646144558112[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648732601868 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003648732601868[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154375734295 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154375734295[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328449376644 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328449376644[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972208259536 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972208259536[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175515235027 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175515235027[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232524272284 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232524272284[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951271499490 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951271499490[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642970488104 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642970488104[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662256722991 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662256722991[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176125504941 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176125504941[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590023395930 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590023395930[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901153192379 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901153192379[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844441688613 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844441688613[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414402103224 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414402103224[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184808822857 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184808822857[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556504646813 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556504646813[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398285944381 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398285944381[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010929217302 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010929217302[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822792154796 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822792154796[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285234871781 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285234871781[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526717109897 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526717109897[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635841480012 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004635841480012[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666389315872 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666389315872[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585846487024 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585846487024[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004009096440744 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004009096440744[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259715838423 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259715838423[0m ×2 + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578547 ms (missed cycles : 2). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578547 ms (missed cycles : 2).[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323895902506 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323895902506[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841123604102 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841123604102[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160000664883 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160000664883[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281775451958 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281775451958[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846319268691 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846319268691[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204601245340 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204601245340[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313634063005 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003313634063005[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863916798241 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863916798241[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176596943130 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004176596943130[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002516882207140 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002516882207140[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003507897863246 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003507897863246[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063070855862 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063070855862[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362333076182 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004362333076182[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432522118553 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432522118553[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773254849959 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773254849959[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685076117424 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685076117424[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591698278768 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591698278768[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957978305397 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957978305397[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166327772792 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004166327772792[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080078374868 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080078374868[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691076130460 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691076130460[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063873994056 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063873994056[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264555868791 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264555868791[0m ×2 + 24.66sWARNcontroller_managerOverrun might occur, Total time : 1762.816 us (Expected < 1666.667 us) --> Read time : 795.746 us, Update time : 87.192 us, Write time : 879.878 us + 24.66sWARNros2_control_nodeOverrun might occur, Total time : 1762.816 us (Expected < 1666.667 us) --> Read time : 795.746 us, Update time : 87.192 us, Write time : 879.878 us[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004599140533606 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004599140533606[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521059218142 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521059218142[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002704773270425 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002704773270425[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568132126221 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003568132126221[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045304507746 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045304507746[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291721322855 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004291721322855[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394172058806 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004394172058806[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416548323350 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416548323350[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398777722789 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398777722789[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364280898209 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364280898209[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004967279312707 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004967279312707[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687851643390 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687851643390[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491524506299 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491524506299[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359545381607 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359545381607[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275085747075 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004275085747075[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223329699869 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223329699869[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317658636667 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317658636667[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249278699764 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249278699764[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205694851249 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205694851249[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190067566265 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190067566265[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002392007223237 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002392007223237[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295893893440 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295893893440[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805122126899 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805122126899[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449079134413 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002449079134413[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341115314237 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341115314237[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002912613522111 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002912613522111[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569160058790 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569160058790[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001978480049427 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001978480049427[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086699053802 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086699053802[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174963848080 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174963848080[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294616839512 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004294616839512[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006007024463739 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006007024463739[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259202708885 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259202708885[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759390689725 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759390689725[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429691543590 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429691543590[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739811289080 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739811289080[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713312098007 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713312098007[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409376249406 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409376249406[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241652789402 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241652789402[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134803251452 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134803251452[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063579369121 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063579369121[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015675711332 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015675711332[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983271510003 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983271510003[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971916007470 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971916007470[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992152250485 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992152250485[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566932485241 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566932485241[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280302390519 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280302390519[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637688650127 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637688650127[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229418128161 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229418128161[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054892109751 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054892109751[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969308897047 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969308897047[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924429151409 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924429151409[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528823727718 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528823727718[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005541634433508 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005541634433508[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004893665246796 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004893665246796[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383444077920 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383444077920[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111361479874 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111361479874[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951324271738 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951324271738[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857578030100 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857578030100[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419514703511 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004419514703511[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005516522019847 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005516522019847[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824038114404 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824038114404[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369823466143 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369823466143[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060927591185 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060927591185[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005454236591471 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005454236591471[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679030520376 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679030520376[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212702308068 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212702308068[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397166090196 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397166090196[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396960428142 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396960428142[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688966540847 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688966540847[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187624683452 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187624683452[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524957458033 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524957458033[0m ×2 + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726449 ms (missed cycles : 2). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726449 ms (missed cycles : 2).[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095906069283 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095906069283[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360622270849 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360622270849[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004523679845896 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004523679845896[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051147343755 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051147343755[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277281182041 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277281182041[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453863985691 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453863985691[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338298559661 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338298559661[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126058243800 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126058243800[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230089445218 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230089445218[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507957232325 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004507957232325[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376002343969 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376002343969[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582237149144 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582237149144[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005501158267937 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005501158267937[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547612509810 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547612509810[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991938743650 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991938743650[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105942795761 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105942795761[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293383180615 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293383180615[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251364141620 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251364141620[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368029634327 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368029634327[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262701153485 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005262701153485[0m ×2 + 25.66sWARNcontroller_managerOverrun might occur, Total time : 7116.774 us (Expected < 1666.667 us) --> Read time : 6493.451 us, Update time : 130.323 us, Write time : 493.000 us + 25.66sWARNros2_control_nodeOverrun might occur, Total time : 7116.774 us (Expected < 1666.667 us) --> Read time : 6493.451 us, Update time : 130.323 us, Write time : 493.000 us[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353281956572 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353281956572[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626716022465 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626716022465[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616272723156 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003616272723156[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004862391516799 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004862391516799[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503852981372 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503852981372[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881468638873 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881468638873[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683070740549 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683070740549[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544451221891 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544451221891[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305512943797 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305512943797[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609267743948 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609267743948[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806622218675 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806622218675[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615350790239 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615350790239[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168753628790 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168753628790[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400157656807 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400157656807[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333802752659 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333802752659[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972420112696 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972420112696[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225961827491 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225961827491[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212291164634 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212291164634[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870885330861 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870885330861[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126436170655 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126436170655[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139916701312 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139916701312[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793953549266 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793953549266[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043246017787 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043246017787[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264120631019 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264120631019[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003403748259956 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003403748259956[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061602674013 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061602674013[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005389350649879 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005389350649879[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005580347179934 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005580347179934[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005526805477953 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005526805477953[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492218319390 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492218319390[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400369094472 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400369094472[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324626606358 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324626606358[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005245049063534 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005245049063534[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854161438899 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854161438899[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991828419766 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991828419766[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078139852515 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078139852515[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064468372830 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064468372830[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051348342495 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051348342495[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010332533201 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010332533201[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109787582344 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109787582344[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645873165493 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645873165493[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471376763418 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471376763418[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939194714997 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939194714997[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452305606265 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452305606265[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006414934007758 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006414934007758[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810661809132 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810661809132[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404344708325 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404344708325[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992472987505 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992472987505[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005462143127644 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005462143127644[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074041964483 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005074041964483[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822709588552 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822709588552[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653694541207 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653694541207[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219696374298 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005219696374298[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919653586448 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919653586448[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679961968565 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004679961968565[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542922786360 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542922786360[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443551415239 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443551415239[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952319653275 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952319653275[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720844997376 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720844997376[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954812569848 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954812569848[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006823597890554 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006823597890554[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983316314002 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983316314002[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459259076742 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459259076742[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005383913892580 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005383913892580[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006021764974682 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006021764974682[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005673676089615 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005673676089615[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004893485882513 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004893485882513[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227908260589 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227908260589[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006348779813414 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006348779813414[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005129358948828 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005129358948828[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695728619252 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695728619252[0m ×2 + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595941 ms (missed cycles : 3). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595941 ms (missed cycles : 3).[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005704241409978 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005704241409978[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519083476734 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519083476734[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504081017056 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504081017056[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005983065095774 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005983065095774[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005484207963188 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005484207963188[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133276098323 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133276098323[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871369156043 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871369156043[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004904802970398 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004904802970398[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005720733677643 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005720733677643[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637179234729 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637179234729[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514760621116 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514760621116[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452427635243 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452427635243[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334693199661 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334693199661[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305467994865 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305467994865[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879282378068 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879282378068[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617588944960 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617588944960[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694835173452 + 26.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694835173452[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441467913301 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005441467913301[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408047146738 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408047146738[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198946531159 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198946531159[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005348383031333 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005348383031333[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555233574616 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555233574616[0m ×2 + 27.04sWARNcontroller_managerOverrun might occur, Total time : 3397.079 us (Expected < 1666.667 us) --> Read time : 251.505 us, Update time : 2572.582 us, Write time : 572.992 us + 27.04sWARNros2_control_nodeOverrun might occur, Total time : 3397.079 us (Expected < 1666.667 us) --> Read time : 251.505 us, Update time : 2572.582 us, Write time : 572.992 us[0m ×2 + 27.34sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×3 + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728847 ms (missed cycles : 2). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728847 ms (missed cycles : 2).[0m ×2 + 28.12sWARNcontroller_managerOverrun might occur, Total time : 3693.976 us (Expected < 1666.667 us) --> Read time : 314.467 us, Update time : 2738.706 us, Write time : 640.803 us + 28.12sWARNros2_control_nodeOverrun might occur, Total time : 3693.976 us (Expected < 1666.667 us) --> Read time : 314.467 us, Update time : 2738.706 us, Write time : 640.803 us[0m ×2 + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134841 ms (missed cycles : 2). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134841 ms (missed cycles : 2).[0m ×2 + 29.13sWARNcontroller_managerOverrun might occur, Total time : 1678.524 us (Expected < 1666.667 us) --> Read time : 1176.944 us, Update time : 95.812 us, Write time : 405.768 us + 29.14sWARNros2_control_nodeOverrun might occur, Total time : 1678.524 us (Expected < 1666.667 us) --> Read time : 1176.944 us, Update time : 95.812 us, Write time : 405.768 us[0m ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750247 ms (missed cycles : 2). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750247 ms (missed cycles : 2).[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.692133432510615 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.692133432510615[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.457570454262676 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.457570454262676[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.367534283950778 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.367534283950778[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.256306708601743 ×2 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.256306708601743[0m ×4 + 29.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.194115353298248 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.194115353298248[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.070216218980827 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.070216218980827[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046899418499599 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046899418499599[0m ×2 + 29.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032795585323250 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032795585323250[0m ×2 + 29.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013316648270594 ×2 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013316648270594[0m ×4 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098543045718426 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098543045718426[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028738587612424 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028738587612424[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455893115923 ×2 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455893115923[0m ×4 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016851628283575 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016851628283575[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.069974136137997 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.069974136137997[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079221711594615 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079221711594615[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042019828632896 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042019828632896[0m ×2 + 29.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044512362491683 ×2 + 29.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044512362491683[0m ×4 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049623708464722 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049623708464722[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016626068163711 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016626068163711[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031762048141469 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031762048141469[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.153862981765189 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.153862981765189[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039588372608460 ×2 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039588372608460[0m ×4 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537498628363 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537498628363[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006787545766748 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006787545766748[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013125666864730 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013125666864730[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098331764229827 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098331764229827[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.113059339016423 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.113059339016423[0m ×2 + 29.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032305407006819 ×2 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032305407006819[0m ×4 + 29.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.060945443374841 + 29.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.060945443374841[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584804810372 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001584804810372[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017110214561375 ×2 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017110214561375[0m ×4 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025265194222853 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025265194222853[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.068693343266729 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.068693343266729[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008121137836782 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008121137836782[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044851113700577 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044851113700577[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015753339051408 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015753339051408[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029282210650983 ×2 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029282210650983[0m ×4 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017454246358481 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017454246358481[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047880179551702 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047880179551702[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011487863219663 ×2 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011487863219663[0m ×4 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032816192652706 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032816192652706[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.085699806979811 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.085699806979811[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.112827799057471 + 30.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.112827799057471[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021565745284488 ×2 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021565745284488[0m ×4 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.033604074822013 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.033604074822013[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.052389502117854 + 30.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.052389502117854[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006405289211769 ×2 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006405289211769[0m ×4 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028563308878488 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028563308878488[0m ×2 + 30.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004681520731222 + 30.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004681520731222[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016263064199016 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016263064199016[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.117233366106940 ×2 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.117233366106940[0m ×4 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.107466156462876 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.107466156462876[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.147614035338815 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.147614035338815[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018992273612028 ×2 + 30.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018992273612028[0m ×4 + 30.28sWARNcontroller_managerOverrun might occur, Total time : 1951.070 us (Expected < 1666.667 us) --> Read time : 234.925 us, Update time : 1332.387 us, Write time : 383.758 us + 30.28sWARNros2_control_nodeOverrun might occur, Total time : 1951.070 us (Expected < 1666.667 us) --> Read time : 234.925 us, Update time : 1332.387 us, Write time : 383.758 us[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.053753076302700 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.053753076302700[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056218013135063 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056218013135063[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.040843500354569 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.040843500354569[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.115493682309370 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.115493682309370[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079127401486699 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079127401486699[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040765216819878 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040765216819878[0m ×2 + 30.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094819911029875 ×2 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094819911029875[0m ×4 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.050011632816796 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.050011632816796[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017038148316565 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017038148316565[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031345182861614 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031345182861614[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.147348540090310 ×2 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.147348540090310[0m ×4 + 30.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.063590064448090 + 30.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.063590064448090[0m ×2 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025203745053129 ×2 + 30.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025203745053129[0m ×4 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022668979811968 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022668979811968[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006519309192504 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006519309192504[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603964310927 ×2 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603964310927[0m ×4 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015218177377371 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015218177377371[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049485232702995 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049485232702995[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015594151625900 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015594151625900[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.014383194292947 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.014383194292947[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001866632153428 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001866632153428[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.020559879186023 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.020559879186023[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014227627048750 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014227627048750[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018887807772509 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018887807772509[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004100156501524 ×2 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004100156501524[0m ×4 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008734596251481 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008734596251481[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008866132533307 + 30.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008866132533307[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007608487336593 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007608487336593[0m ×2 + 30.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021178875604086 ×2 + 30.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021178875604086[0m ×4 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017480785871445 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017480785871445[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005487496479725 ×2 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005487496479725[0m ×4 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010234324394442 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010234324394442[0m ×2 + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569350 ms (missed cycles : 2). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569350 ms (missed cycles : 2).[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021741841660195 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021741841660195[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010786597090140 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010786597090140[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023245972731726 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023245972731726[0m ×2 + 30.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007025023781245 ×2 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007025023781245[0m ×4 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011484105742494 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011484105742494[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018901004500328 ×2 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018901004500328[0m ×4 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022429332675870 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022429332675870[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021528102558685 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021528102558685[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007710197160549 ×2 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007710197160549[0m ×4 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.013523433887586 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.013523433887586[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021371741732443 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021371741732443[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008908637080030 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008908637080030[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.014306929365542 ×2 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.014306929365542[0m ×4 + 30.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028649220236840 + 30.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028649220236840[0m ×2 + 30.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023017232070050 + 30.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023017232070050[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017884311936538 ×2 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017884311936538[0m ×4 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.020953100219346 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.020953100219346[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021163834893518 ×2 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021163834893518[0m ×4 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094693409640502 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094693409640502[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104035531244395 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104035531244395[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.102333466388032 ×2 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.102333466388032[0m ×4 + 30.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021515472911480 + 30.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021515472911480[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.033829183110315 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.033829183110315[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010483735428801 ×2 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010483735428801[0m ×4 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016423781139124 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016423781139124[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008767967544145 ×2 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008767967544145[0m ×4 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014580618674124 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014580618674124[0m ×2 + 31.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011067649971140 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011067649971140[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005853667409381 ×2 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005853667409381[0m ×4 + 31.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006580056115077 + 31.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006580056115077[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005333480084703 ×2 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005333480084703[0m ×4 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.126833038186067 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.126833038186067[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.091921224531293 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.091921224531293[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.034198921381419 ×2 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.034198921381419[0m ×4 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024019751783907 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024019751783907[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.084791849307234 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.084791849307234[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.104617070015206 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.104617070015206[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.091706625998722 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.091706625998722[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.073003557103085 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.073003557103085[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049733857420604 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049733857420604[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513128927503 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513128927503[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.054765550891714 ×2 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.054765550891714[0m ×4 + 31.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.114610427599357 + 31.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.114610427599357[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094863569539848 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094863569539848[0m ×2 + 31.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.095047316737072 + 31.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.095047316737072[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.103550221257586 ×2 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.103550221257586[0m ×4 + 31.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.101767505016906 ×2 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.101767505016906[0m ×4 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.095117169018567 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.095117169018567[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.101226500309350 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.101226500309350[0m ×2 + 31.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.096227936007714 + 31.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.096227936007714[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.096271886422968 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.096271886422968[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.099260900789316 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.099260900789316[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098032426773754 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098032426773754[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098072011246557 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098072011246557[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098472312656210 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098472312656210[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098016130807483 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.098016130807483[0m ×2 + 31.36sWARNcontroller_managerOverrun might occur, Total time : 1843.808 us (Expected < 1666.667 us) --> Read time : 269.416 us, Update time : 598.542 us, Write time : 975.850 us + 31.36sWARNros2_control_nodeOverrun might occur, Total time : 1843.808 us (Expected < 1666.667 us) --> Read time : 269.416 us, Update time : 598.542 us, Write time : 975.850 us[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098214048573010 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098214048573010[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.097795246717722 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.097795246717722[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098076485594657 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098076485594657[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.097483262752719 ×2 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.097483262752719[0m ×4 + 31.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097957232447986 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097957232447986[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.097060069727544 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.097060069727544[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097556540227857 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097556540227857[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.097015734725366 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.097015734725366[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048670810422382 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048670810422382[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044508382713931 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044508382713931[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010625881465613 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010625881465613[0m ×2 + 31.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056304202635179 ×2 + 31.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056304202635179[0m ×4 + 31.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.112101480424454 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.112101480424454[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011142595417974 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011142595417974[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.037714171032508 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.037714171032508[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349718185832 ×2 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003349718185832[0m ×4 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030365968136378 + 31.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030365968136378[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002929594401325 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002929594401325[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.126924301788321 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.126924301788321[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019040208447039 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019040208447039[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019401523564427 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019401523564427[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.040537829186500 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.040537829186500[0m ×2 + 31.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006230129136902 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006230129136902[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.030369419250180 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.030369419250180[0m ×2 + 31.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006391639151770 ×2 + 31.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006391639151770[0m ×4 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023901441901048 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023901441901048[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011368212435878 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011368212435878[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010050707255623 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010050707255623[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.088893446158934 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.088893446158934[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020677774101972 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020677774101972[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029997394435032 ×2 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029997394435032[0m ×4 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.128714146496614 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.128714146496614[0m ×2 + 31.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012712375923412 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012712375923412[0m ×2 + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773639 ms (missed cycles : 5). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773639 ms (missed cycles : 5).[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041385454971381 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041385454971381[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028014400322950 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028014400322950[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.062956523570530 ×2 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.062956523570530[0m ×4 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009113630665812 + 31.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009113630665812[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019338185007979 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019338185007979[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.063095360389212 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.063095360389212[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.078066981495991 ×2 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.078066981495991[0m ×4 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.066441447886809 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.066441447886809[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.070235355976141 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.070235355976141[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.070595060335551 ×2 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.070595060335551[0m ×4 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.066699550997792 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.066699550997792[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.072247386997814 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.072247386997814[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.064068892343336 ×2 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.064068892343336[0m ×4 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.073291264088024 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.073291264088024[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.060485555423347 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.060485555423347[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.074824045046229 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.074824045046229[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075532214135576 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075532214135576[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030824971297715 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030824971297715[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046999674741073 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046999674741073[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045576885300981 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045576885300981[0m ×2 + 31.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042664631290958 + 31.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042664631290958[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.029780101811546 + 31.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.029780101811546[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035339459688116 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035339459688116[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018628626912963 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018628626912963[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017443174282694 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017443174282694[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007595669698409 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007595669698409[0m ×2 + 32.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009359800784562 ×2 + 32.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009359800784562[0m ×4 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.084403432855925 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.084403432855925[0m ×2 + 32.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.071780337462219 + 32.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.071780337462219[0m ×2 + 32.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055758493278647 ×2 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055758493278647[0m ×4 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.084260906398220 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.084260906398220[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.078830716201970 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.078830716201970[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.074008578061969 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.074008578061969[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.075203644265478 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.075203644265478[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.072121270543917 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.072121270543917[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061330487357316 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061330487357316[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015266859431962 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015266859431962[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.111306528809703 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.111306528809703[0m ×2 + 32.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009024276001769 + 32.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009024276001769[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.109583387545725 ×2 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.109583387545725[0m ×4 + 32.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004385743781148 + 32.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004385743781148[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.107791282517142 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.107791282517142[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003641548204880 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003641548204880[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001813373260936 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001813373260936[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.076379434180018 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.076379434180018[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.077387533189144 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.077387533189144[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863183343910 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863183343910[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.102520979130515 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.102520979130515[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054356039627063 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054356039627063[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055321272854916 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055321272854916[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.076251260193811 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.076251260193811[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.070442394573657 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.070442394573657[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051129275048486 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051129275048486[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.069152089156771 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.069152089156771[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.068096198640757 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.068096198640757[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001804880409625 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001804880409625[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.067064503308581 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.067064503308581[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097063099818654 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097063099818654[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.096399704119450 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.096399704119450[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.053761298904084 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.053761298904084[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.078744471086957 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.078744471086957[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.060793547979125 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.060793547979125[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055887680454396 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055887680454396[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056272040763067 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056272040763067[0m ×2 + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.107516061702872 + 32.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.107516061702872[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045881721760618 ×2 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045881721760618[0m ×4 + 32.43sWARNcontroller_managerOverrun might occur, Total time : 2135.744 us (Expected < 1666.667 us) --> Read time : 198.304 us, Update time : 863.978 us, Write time : 1073.462 us + 32.43sWARNros2_control_nodeOverrun might occur, Total time : 2135.744 us (Expected < 1666.667 us) --> Read time : 198.304 us, Update time : 863.978 us, Write time : 1073.462 us[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009654118106442 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009654118106442[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.104106440802128 ×2 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.104106440802128[0m ×4 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049757186424481 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049757186424481[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081406316975062 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081406316975062[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057237900560872 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057237900560872[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056695290258673 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056695290258673[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047961981575662 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047961981575662[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016677233382511 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016677233382511[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.114392715784008 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.114392715784008[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.116333347808374 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.116333347808374[0m ×2 + 32.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039437264075741 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039437264075741[0m ×2 + 32.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075291989315543 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075291989315543[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025135780928398 + 32.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025135780928398[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.050244720019373 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.050244720019373[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.080333471575856 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.080333471575856[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051613856797863 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051613856797863[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.110405931748356 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.110405931748356[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.079448665054680 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.079448665054680[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.082230292412682 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.082230292412682[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.060138365264959 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.060138365264959[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.060269221715419 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.060269221715419[0m ×2 + 32.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.44% of iterations over budget over 3:10.009 of wall time (842/58298). Consistently above 1% means the model timestep should be raised.[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.072803847979623 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.072803847979623[0m ×2 + 32.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.074547520544715 + 32.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.074547520544715[0m ×2 + 32.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000193694105391 + 32.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000193694105391[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.074396356303397 ×2 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.074396356303397[0m ×4 + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849042 ms (missed cycles : 3). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849042 ms (missed cycles : 3).[0m ×2 + 32.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254301684568 + 32.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204844612458 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254301684568[0m ×2 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002204844612458[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.067695534426539 + 32.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.067695534426539[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006412646203273 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006412646203273[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094211519466133 ×2 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094211519466133[0m ×4 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.050406335482421 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.050406335482421[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236479484400 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236479484400[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652744783311 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006652744783311[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093469968424132 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093469968424132[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.050751042015557 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.050751042015557[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.066627146422081 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.066627146422081[0m ×2 + 32.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042784540486170 ×2 + 32.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042784540486170[0m ×4 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018370542121261 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018370542121261[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.106879779537507 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.106879779537507[0m ×2 + 32.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044455113836260 + 32.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044455113836260[0m ×2 + 32.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008644284849762 + 32.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008644284849762[0m ×2 + 32.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098128471078694 + 32.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098128471078694[0m ×2 + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047941721176393 + 32.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047941721176393[0m ×2 + 32.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.065964487619171 + 32.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.065964487619171[0m ×2 + 32.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009876231120114 + 32.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009876231120114[0m ×2 + 32.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009214568231835 + 32.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009214568231835[0m ×2 + 32.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098973256904402 + 32.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098973256904402[0m ×2 + 32.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007140824179856 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007140824179856[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.095589076020093 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.095589076020093[0m ×2 + 32.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094704816961104 + 32.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.094704816961104[0m ×2 + 32.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.062785096762464 + 32.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.062785096762464[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.066133330380955 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.066133330380955[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006811296505016 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006811296505016[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006631607209703 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006631607209703[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098946391118301 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098946391118301[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046969154545859 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046969154545859[0m ×2 + 33.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049404249669549 + 33.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049404249669549[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.052554517863745 + 33.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.052554517863745[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.013837260696551 + 33.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.013837260696551[0m ×2 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.102423427050351 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.102423427050351[0m ×2 + 33.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044825833645030 ×2 + 33.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044825833645030[0m ×4 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.061867688746573 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.061867688746573[0m ×2 + 33.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045116617504356 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045116617504356[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016646372020529 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016646372020529[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017096369806319 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017096369806319[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.107666220222402 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.107666220222402[0m ×2 + 33.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040258825037919 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040258825037919[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055111421283206 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055111421283206[0m ×2 + 33.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098678310856241 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.098678310856241[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008186731562084 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008186731562084[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.096417956646766 + 33.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.096417956646766[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.072942207858817 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.072942207858817[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055190446138118 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055190446138118[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054218980628476 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054218980628476[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.050057037758308 + 33.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.050057037758308[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019340815406430 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019340815406430[0m ×2 + 33.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.110813318424211 + 33.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.110813318424211[0m ×2 + 33.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.111335280256432 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.111335280256432[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.037020600325990 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.037020600325990[0m ×2 + 33.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.071237102298177 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.071237102298177[0m ×2 + 33.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.059304429709086 ×2 + 33.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.059304429709086[0m ×4 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023217569156726 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023217569156726[0m ×2 + 33.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.080474196541752 ×2 + 33.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.080474196541752[0m ×4 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.112776334348258 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.112776334348258[0m ×2 + 33.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036003471903519 ×2 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036003471903519[0m ×4 + 33.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048915910081911 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048915910081911[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018977587258118 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018977587258118[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039759482905142 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039759482905142[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057726915148335 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057726915148335[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019184419102880 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019184419102880[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.082257620952791 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.082257620952791[0m ×2 + 33.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044497319542940 + 33.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044497319542940[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048808438919922 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048808438919922[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018487798370937 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018487798370937[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000679442582351 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000679442582351[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011734806432116 ×2 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011734806432116[0m ×4 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033871151404717 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033871151404717[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.073389596181095 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.073389596181095[0m ×2 + 33.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057371440834547 ×2 + 33.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057371440834547[0m ×4 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009401831579769 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009401831579769[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028015520829655 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028015520829655[0m ×2 + 33.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018560859252981 ×2 + 33.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.018560859252981[0m ×4 + 33.51sWARNcontroller_managerOverrun might occur, Total time : 2130.914 us (Expected < 1666.667 us) --> Read time : 263.846 us, Update time : 782.846 us, Write time : 1084.222 us + 33.51sWARNros2_control_nodeOverrun might occur, Total time : 2130.914 us (Expected < 1666.667 us) --> Read time : 263.846 us, Update time : 782.846 us, Write time : 1084.222 us[0m ×2 + 33.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.062805999764815 + 33.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.062805999764815[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.076628191375391 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.076628191375391[0m ×2 + 33.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346782345003 + 33.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346782345003[0m ×2 + 33.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.091496285214549 ×2 + 33.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.091496285214549[0m ×4 + 33.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.050493372914059 + 33.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.050493372914059[0m ×2 + 33.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056296698263652 + 33.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056296698263652[0m ×2 + 33.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010280640121211 + 33.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010280640121211[0m ×2 + 33.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010257037929004 + 33.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010257037929004[0m ×2 + 33.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058189096632873 + 33.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058189096632873[0m ×2 + 33.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006508205046765 + 33.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006508205046765[0m ×2 + 33.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005503086756694 + 33.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005503086756694[0m ×2 + 33.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.095968343646172 + 33.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.095968343646172[0m ×2 + 33.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046921984669984 + 33.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046921984669984[0m ×2 + 33.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015285891998722 + 33.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015285891998722[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.100157818911245 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.100157818911245[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056319399520967 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056319399520967[0m ×2 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009341502013479 + 33.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009341502013479[0m ×2 + 33.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.096742099047563 + 33.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.096742099047563[0m ×2 + 33.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047029050250582 ×2 + 33.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047029050250582[0m ×4 + 33.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.069760043964771 + 33.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.069760043964771[0m ×2 + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623347 ms (missed cycles : 4). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623347 ms (missed cycles : 4).[0m ×2 + 33.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.059349368579443 + 33.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.059349368579443[0m ×2 + 33.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010626045078927 ×2 + 33.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.010626045078927[0m ×4 + 33.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097925497847704 + 33.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.097925497847704[0m ×2 + 33.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046437413682736 + 33.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.046437413682736[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075912953497046 + 33.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075912953497046[0m ×2 + 33.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054740504300510 + 33.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054740504300510[0m ×2 + 33.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019227445180339 + 33.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019227445180339[0m ×2 + 33.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.050888963647439 + 33.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.050888963647439[0m ×2 + 33.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006820517510823 + 33.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006820517510823[0m ×2 + 33.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.080496745314646 ×2 + 33.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.080496745314646[0m ×4 + 33.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.061064061621166 + 33.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.061064061621166[0m ×2 + 33.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076592219591 ×2 + 33.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076592219591[0m ×4 + 33.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002213701248392 + 33.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002213701248392[0m ×2 + 33.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.085868753581613 + 33.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.085868753581613[0m ×2 + 33.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.052948440881606 ×2 + 33.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.052948440881606[0m ×4 + 33.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057681463333620 + 33.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057681463333620[0m ×2 + 33.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006008597318747 + 33.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006008597318747[0m ×2 + 33.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081906231637563 + 33.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081906231637563[0m ×2 + 33.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055006283765117 ×2 + 33.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055006283765117[0m ×4 + 33.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057658452146748 + 33.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057658452146748[0m ×2 + 33.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005955822238983 ×2 + 33.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005955822238983[0m ×4 + 34.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003977059516935 + 34.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003977059516935[0m ×2 + 34.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.083072628456069 + 34.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.083072628456069[0m ×2 + 34.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.082644987822180 + 34.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.082644987822180[0m ×2 + 34.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.061119051202858 + 34.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.061119051202858[0m ×2 + 34.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006046661552678 + 34.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006046661552678[0m ×2 + 34.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.087225276143282 + 34.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.087225276143282[0m ×2 + 34.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.053797801873951 + 34.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.053797801873951[0m ×2 + 34.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054883219413210 + 34.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.054883219413210[0m ×2 + 34.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057857513390398 + 34.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057857513390398[0m ×2 + 34.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007325135407616 + 34.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007325135407616[0m ×2 + 34.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.092085339617774 + 34.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.092085339617774[0m ×2 + 34.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049700041564428 + 34.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049700041564428[0m ×2 + 34.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056933926200800 + 34.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056933926200800[0m ×2 + 34.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057347551478123 + 34.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.057347551478123[0m ×2 + 34.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007289338390933 + 34.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007289338390933[0m ×2 + 34.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049386083410567 + 34.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049386083410567[0m ×2 + 34.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002576122648093 + 34.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002576122648093[0m ×2 + 34.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.089000710173057 + 34.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.089000710173057[0m ×2 + 34.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049774773774550 + 34.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049774773774550[0m ×2 + 34.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055876854362236 + 34.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.055876854362236[0m ×2 + 34.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008122728843917 + 34.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008122728843917[0m ×2 + 34.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042003412120589 + 34.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042003412120589[0m ×2 + 34.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012878291918724 + 34.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012878291918724[0m ×2 + 34.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019596005769454 + 34.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019596005769454[0m ×2 + 34.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004908927297092 + 34.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004908927297092[0m ×2 + 34.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.085480532391933 + 34.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.085480532391933[0m ×2 + 34.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.078973496959682 + 34.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.078973496959682[0m ×2 + 34.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061637528057890 ×2 + 34.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061637528057890[0m ×4 + 34.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.053042345018234 + 34.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.053042345018234[0m ×2 + 34.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.052159331326224 + 34.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.052159331326224[0m ×2 + 34.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043217198610862 + 34.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043217198610862[0m ×2 + 34.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.039841546814627 + 34.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.039841546814627[0m ×2 + 34.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024094999711819 + 34.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024094999711819[0m ×2 + 34.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.094674345882755 + 34.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.094674345882755[0m ×2 + 34.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.065598555228433 ×2 + 34.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.065598555228433[0m ×4 + 34.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100797786239333 + 34.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100797786239333[0m ×2 + 34.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.032322955842454 + 34.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.032322955842454[0m ×2 + 34.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.079230248488440 + 34.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.079230248488440[0m ×2 + 34.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047128089378258 + 34.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047128089378258[0m ×2 + 34.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.053840824174273 + 34.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.053840824174273[0m ×2 + 34.57sWARNcontroller_managerOverrun might occur, Total time : 2573.913 us (Expected < 1666.667 us) --> Read time : 279.116 us, Update time : 369.437 us, Write time : 1925.360 us + 34.57sWARNros2_control_nodeOverrun might occur, Total time : 2573.913 us (Expected < 1666.667 us) --> Read time : 279.116 us, Update time : 369.437 us, Write time : 1925.360 us[0m ×2 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034375 ms (missed cycles : 2). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034375 ms (missed cycles : 2).[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158511 ms (missed cycles : 5). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158511 ms (missed cycles : 5).[0m ×2 + 35.79sWARNcontroller_managerOverrun might occur, Total time : 7140.706 us (Expected < 1666.667 us) --> Read time : 1182.934 us, Update time : 5165.125 us, Write time : 792.647 us + 35.79sWARNros2_control_nodeOverrun might occur, Total time : 7140.706 us (Expected < 1666.667 us) --> Read time : 1182.934 us, Update time : 5165.125 us, Write time : 792.647 us[0m ×2 + 36.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.446897304345533 + 36.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.446897304345533[0m ×2 + 36.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.066991831895744 + 36.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.066991831895744[0m ×2 + 36.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.147296941639851 + 36.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.147296941639851[0m ×2 + 36.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047679573752686 + 36.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047679573752686[0m ×2 + 36.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003861874898025 ×2 + 36.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003861874898025[0m ×4 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.889502284908223 + 36.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.889502284908223[0m ×2 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.136156272416057 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.136156272416057[0m ×2 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.104675255909266 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.104675255909266[0m ×2 + 36.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.127259643540526 + 36.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.127259643540526[0m ×2 + 36.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.127259643540523 + 36.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.127259643540523[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277617 ms (missed cycles : 5). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277617 ms (missed cycles : 5).[0m ×2 + 36.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.173691764667041 + 36.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.173691764667041[0m ×2 + 36.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.714417544169844 + 36.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.714417544169844[0m ×2 + 36.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.721431002839761 + 36.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.721431002839761[0m ×2 + 36.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.715477539415964 + 36.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.715477539415964[0m ×2 + 36.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.971254165264124 + 36.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.971254165264124[0m ×2 + 36.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.759876379486418 + 36.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.759876379486418[0m ×2 + 36.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.046611874568526 + 36.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.046611874568526[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.828221417449445 ×2 + 36.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.828221417449445[0m ×4 + 36.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.429727550589444 + 36.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.429727550589444[0m ×2 + 36.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.585086042685960 + 36.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.585086042685960[0m ×2 + 36.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746792816567835 ×2 + 36.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.746792816567835[0m ×4 + 36.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.871926032367461 + 36.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.871926032367461[0m ×2 + 36.94sWARNcontroller_managerOverrun might occur, Total time : 3264.796 us (Expected < 1666.667 us) --> Read time : 227.004 us, Update time : 97.332 us, Write time : 2940.460 us + 36.94sWARNros2_control_nodeOverrun might occur, Total time : 3264.796 us (Expected < 1666.667 us) --> Read time : 227.004 us, Update time : 97.332 us, Write time : 2940.460 us[0m ×2 + 36.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.340422442492309 + 36.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.340422442492309[0m ×2 + 36.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.758873259687824 + 36.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.758873259687824[0m ×2 + 36.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.997655293248360 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.997655293248360[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.072696678114222 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.072696678114222[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.258224830727373 ×2 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.258224830727373[0m ×4 + 37.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.739816765188934 + 37.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.739816765188934[0m ×2 + 37.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.245685642991502 + 37.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.245685642991502[0m ×2 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.409703236151218 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.409703236151218[0m ×2 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.660861354177815 + 37.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.660861354177815[0m ×2 + 37.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.077171490200925 + 37.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.077171490200925[0m ×2 + 37.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.954822312437020 + 37.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.954822312437020[0m ×2 + 37.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.929790031028144 ×2 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.929790031028144[0m ×4 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.893927677615977 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.893927677615977[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.968649514134036 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.968649514134036[0m ×2 + 37.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.994489138454249 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.994489138454249[0m ×2 + 37.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.883870664420527 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.883870664420527[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.470260657982539 + 37.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.470260657982539[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.445992481392345 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.445992481392345[0m ×2 + 37.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.799924480345386 ×2 + 37.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.799924480345386[0m ×4 + 37.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.896272771723147 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.896272771723147[0m ×2 + 37.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.829766544341680 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.829766544341680[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.941839478429976 ×2 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.941839478429976[0m ×4 + 37.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.316653959099774 + 37.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.316653959099774[0m ×2 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.277638174518621 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.277638174518621[0m ×2 + 37.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.850804185315649 ×2 + 37.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.850804185315649[0m ×4 + 37.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.689649570547040 + 37.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.689649570547040[0m ×2 + 37.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.608181211222792 + 37.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.608181211222792[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.457176298866234 ×2 + 37.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.457176298866234[0m ×4 + 37.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.001544567071421 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.001544567071421[0m ×2 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.745175779613912 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.745175779613912[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.687296181085943 ×2 + 37.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.687296181085943[0m ×4 + 37.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.604903106543859 + 37.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.604903106543859[0m ×2 + 37.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.430494963684046 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.430494963684046[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -37.486903181856185 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -37.486903181856185[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.484822308500696 + 37.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.484822308500696[0m ×2 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.368680289862457 + 37.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.368680289862457[0m ×2 + 37.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.119296725236514 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.119296725236514[0m ×2 + 37.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015296195863081 + 37.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015296195863081[0m ×2 + 37.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.076605599595472 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.076605599595472[0m ×2 + 37.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.108189664982436 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.108189664982436[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.113039424036512 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.113039424036512[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.116226348028034 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.116226348028034[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.119999804816066 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.119999804816066[0m ×2 + 37.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.123526930593069 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.123526930593069[0m ×2 + 37.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.126853403744827 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.126853403744827[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130064228630194 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130064228630194[0m ×2 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139586683241592 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139586683241592[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.148384626880078 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.148384626880078[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.283312643015743 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.283312643015743[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.274766178639762 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.274766178639762[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.259058220173821 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.259058220173821[0m ×2 + 37.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.248999555572030 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.248999555572030[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301385 ms (missed cycles : 4). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301385 ms (missed cycles : 4).[0m ×2 + 37.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.240864035117364 + 37.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.240864035117364[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.232319907844523 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.232319907844523[0m ×2 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.229283564050884 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.229283564050884[0m ×2 + 37.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.228428423769655 + 37.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.228428423769655[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.228272012545147 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.228272012545147[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.228534898661173 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.228534898661173[0m ×2 + 37.94sWARNcontroller_managerOverrun might occur, Total time : 2443.469 us (Expected < 1666.667 us) --> Read time : 254.135 us, Update time : 1651.773 us, Write time : 537.561 us + 37.94sWARNros2_control_nodeOverrun might occur, Total time : 2443.469 us (Expected < 1666.667 us) --> Read time : 254.135 us, Update time : 1651.773 us, Write time : 537.561 us[0m ×2 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.230207438365422 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.230207438365422[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.232092390095550 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.232092390095550[0m ×2 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.234006037483422 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.234006037483422[0m ×2 + 38.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.070979548036938 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.070979548036938[0m ×2 + 38.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.242904884750007 + 38.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.242904884750007[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139208312803652 + 38.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139208312803652[0m ×2 + 38.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.129500679803162 + 38.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.129500679803162[0m ×2 + 38.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.108394736986296 + 38.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.108394736986296[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.030668455542832 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.030668455542832[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.026263125891009 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.026263125891009[0m ×2 + 38.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.190184156786324 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.190184156786324[0m ×2 + 38.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213926444018733 + 38.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213926444018733[0m ×2 + 38.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.214528003885583 + 38.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.214528003885583[0m ×2 + 38.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.210887634848183 + 38.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.210887634848183[0m ×2 + 38.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.208145217899499 + 38.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.208145217899499[0m ×2 + 38.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.214620939609830 + 38.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.214620939609830[0m ×2 + 38.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.220928272008774 + 38.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.220928272008774[0m ×2 + 38.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.232149231933925 + 38.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.232149231933925[0m ×2 + 38.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.253472635829717 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.253472635829717[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.255097327238155 + 38.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.255097327238155[0m ×2 + 38.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.248667929119935 + 38.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.248667929119935[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.245003425414136 + 38.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.245003425414136[0m ×2 + 38.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162265599552110 + 38.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162265599552110[0m ×2 + 38.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034017105228387 + 38.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034017105228387[0m ×2 + 38.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031530964762 + 38.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031530964762[0m ×2 + 38.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003851597242081 + 38.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003851597242081[0m ×2 + 38.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.155872257591184 + 38.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.155872257591184[0m ×2 + 38.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.193888944335095 + 38.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.193888944335095[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.193253021527400 + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.193253021527400[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.192786676554371 + 38.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.192786676554371[0m ×2 + 38.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.191097715910683 + 38.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.191097715910683[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888814780226828 + 38.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888814780226828[0m ×2 + 38.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.710121957382770 + 38.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.710121957382770[0m ×2 + 38.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.710422823852942 + 38.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.710422823852942[0m ×2 + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673432 ms (missed cycles : 3). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673432 ms (missed cycles : 3).[0m ×2 + 38.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.470203125075263 + 38.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.470203125075263[0m ×2 + 38.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.150223219080170 + 38.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.150223219080170[0m ×2 + 38.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.085527782638178 + 38.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.085527782638178[0m ×2 + 38.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.078972072218188 + 38.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.078972072218188[0m ×2 + 38.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.067488200708110 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.067488200708110[0m ×2 + 38.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.063692820390935 + 38.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.063692820390935[0m ×2 + 38.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058490742995926 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058490742995926[0m ×2 + 39.00sWARNcontroller_managerOverrun might occur, Total time : 1937.490 us (Expected < 1666.667 us) --> Read time : 303.746 us, Update time : 844.977 us, Write time : 788.767 us + 39.00sWARNros2_control_nodeOverrun might occur, Total time : 1937.490 us (Expected < 1666.667 us) --> Read time : 303.746 us, Update time : 844.977 us, Write time : 788.767 us[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.107920831289813 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.107920831289813[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.082399983406802 + 39.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.082399983406802[0m ×2 + 39.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.075937844382429 + 39.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.075937844382429[0m ×2 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051567948426339 + 39.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051567948426339[0m ×2 + 39.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.106850830142982 + 39.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.106850830142982[0m ×2 + 39.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104220036790669 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104220036790669[0m ×2 + 39.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104748942051276 + 39.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104748942051276[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.121944483563971 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.121944483563971[0m ×2 + 39.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.128257600585580 + 39.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.128257600585580[0m ×2 + 39.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100670701816131 + 39.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100670701816131[0m ×2 + 39.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.103335037910248 + 39.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.103335037910248[0m ×2 + 39.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.122350195454562 + 39.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.122350195454562[0m ×2 + 39.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.124225587178965 + 39.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.124225587178965[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.124765704401570 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.124765704401570[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.125156392079608 + 39.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.125156392079608[0m ×2 + 39.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.125328162694973 + 39.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.125328162694973[0m ×2 + 39.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.120906834154267 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.120906834154267[0m ×2 + 39.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.119359758565840 + 39.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.119359758565840[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.117168066580709 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.117168066580709[0m ×2 + 39.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.151512403375002 + 39.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.151512403375002[0m ×2 + 39.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162120178992408 + 39.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162120178992408[0m ×2 + 39.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.184134104537248 + 39.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.184134104537248[0m ×2 + 39.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.186688961479105 + 39.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.186688961479105[0m ×2 + 39.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.184359730872955 + 39.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.184359730872955[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.187264193786010 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.187264193786010[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.201147974819313 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.201147974819313[0m ×2 + 39.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.196617017719485 + 39.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.196617017719485[0m ×2 + 39.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.195177630231215 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.195177630231215[0m ×2 + 39.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.186868956124279 + 39.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.186868956124279[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.303758458217304 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.303758458217304[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.217128387300746 + 39.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.217128387300746[0m ×2 + 39.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.097857174548579 + 39.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.097857174548579[0m ×2 + 39.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.796662481918030 + 39.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.796662481918030[0m ×2 + 39.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.156589254111636 + 39.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.156589254111636[0m ×2 + 39.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.118372108649063 + 39.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.118372108649063[0m ×2 + 39.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.117099928447361 + 39.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.117099928447361[0m ×2 + 39.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.126134198171443 + 39.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.126134198171443[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.137748897553460 + 39.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.137748897553460[0m ×2 + 39.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075757478530484 + 39.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075757478530484[0m ×2 + 39.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061084843943612 + 39.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061084843943612[0m ×2 + 39.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.054485393440690 + 39.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.054485393440690[0m ×2 + 39.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049804241619308 + 39.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049804241619308[0m ×2 + 39.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047726040520403 + 39.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047726040520403[0m ×2 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041386005077974 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041386005077974[0m ×2 + 39.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041836821081647 + 39.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041836821081647[0m ×2 + 39.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041456638471208 + 39.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041456638471208[0m ×2 + 39.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.042117929195283 + 39.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.042117929195283[0m ×2 + 39.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043590641374791 + 39.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043590641374791[0m ×2 + 39.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044874719107306 + 39.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044874719107306[0m ×2 + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162451 ms (missed cycles : 3). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162451 ms (missed cycles : 3).[0m ×2 + 39.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046071747491964 + 39.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046071747491964[0m ×2 + 39.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047077482600277 + 39.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047077482600277[0m ×2 + 39.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046601770857978 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046601770857978[0m ×2 + 39.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046519222659848 + 39.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046519222659848[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047248945460218 + 39.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047248945460218[0m ×2 + 39.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047248945459499 + 39.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047248945459499[0m ×2 + 39.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047633677665682 + 39.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047633677665682[0m ×2 + 39.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047025213687241 + 39.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047025213687241[0m ×2 + 39.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048661445806016 + 39.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048661445806016[0m ×2 + 39.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049337464671529 + 39.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049337464671529[0m ×2 + 40.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046879202555815 + 40.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046879202555815[0m ×2 + 40.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048089398261827 + 40.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048089398261827[0m ×2 + 40.03sWARNcontroller_managerOverrun might occur, Total time : 6722.077 us (Expected < 1666.667 us) --> Read time : 202.314 us, Update time : 5945.451 us, Write time : 574.312 us + 40.04sWARNros2_control_nodeOverrun might occur, Total time : 6722.077 us (Expected < 1666.667 us) --> Read time : 202.314 us, Update time : 5945.451 us, Write time : 574.312 us[0m ×2 + 40.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048207082619596 + 40.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048207082619596[0m ×2 + 40.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044432798548085 + 40.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044432798548085[0m ×2 + 40.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045807958071588 + 40.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045807958071588[0m ×2 + 40.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045356571178169 + 40.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045356571178169[0m ×2 + 40.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048050555023177 + 40.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048050555023177[0m ×2 + 40.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045256640115020 + 40.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045256640115020[0m ×2 + 40.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.039273416747923 + 40.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.039273416747923[0m ×2 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.110540853034762 + 40.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.110540853034762[0m ×2 + 40.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.092080711896133 + 40.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.092080711896133[0m ×2 + 40.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.086314201590057 + 40.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.086314201590057[0m ×2 + 40.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.373240410854430 + 40.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.373240410854430[0m ×2 + 40.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.915483567597377 + 40.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.915483567597377[0m ×2 + 40.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.521014692874172 + 40.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.521014692874172[0m ×2 + 40.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.334683858000581 + 40.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.334683858000581[0m ×2 + 40.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.884423076851746 + 40.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.884423076851746[0m ×2 + 40.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.556475199132909 + 40.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.556475199132909[0m ×2 + 40.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.286053069736298 + 40.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.286053069736298[0m ×2 + 40.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.341055986081352 + 40.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.341055986081352[0m ×2 + 40.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.845642438213826 + 40.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.845642438213826[0m ×2 + 40.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.412173945605575 + 40.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.412173945605575[0m ×2 + 40.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.770219430206465 + 40.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.770219430206465[0m ×2 + 40.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.954216306769284 + 40.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.954216306769284[0m ×2 + 40.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.060652378621612 + 40.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.060652378621612[0m ×2 + 40.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.709218341581231 + 40.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.709218341581231[0m ×2 + 40.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.308781927844727 + 40.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.308781927844727[0m ×2 + 40.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.509034238256092 + 40.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.509034238256092[0m ×2 + 40.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.303255323613350 + 40.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.303255323613350[0m ×2 + 40.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.693377221856682 + 40.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.693377221856682[0m ×2 + 40.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.193841577016848 + 40.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.193841577016848[0m ×2 + 40.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.886276347306172 + 40.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.886276347306172[0m ×2 + 40.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.712722737447717 + 40.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.712722737447717[0m ×2 + 40.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.713399041347607 + 40.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.713399041347607[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.876343528370022 + 40.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.876343528370022[0m ×2 + 40.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.790399308155393 + 40.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.790399308155393[0m ×2 + 40.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.110276845472068 + 40.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.110276845472068[0m ×2 + 40.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.449220537852860 + 40.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.449220537852860[0m ×2 + 40.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.775515225887460 + 40.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.775515225887460[0m ×2 + 40.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.793445218681043 + 40.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.793445218681043[0m ×2 + 40.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.792532003938209 + 40.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.792532003938209[0m ×2 + 40.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.684193774971446 + 40.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.684193774971446[0m ×2 + 40.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.322463007781103 + 40.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.322463007781103[0m ×2 + 40.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.953885613743841 + 40.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.953885613743841[0m ×2 + 40.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.587943451922808 ×2 + 40.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.587943451922808[0m ×4 + 40.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.067813515510670 + 40.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.067813515510670[0m ×2 + 40.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.141184528137439 + 40.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.141184528137439[0m ×2 + 40.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.350174296362955 + 40.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.350174296362955[0m ×2 + 40.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.674323749997781 + 40.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.674323749997781[0m ×2 + 40.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.264225555414249 + 40.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.264225555414249[0m ×2 + 40.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.829726289210306 + 40.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.829726289210306[0m ×2 + 40.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.506276611764619 + 40.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.506276611764619[0m ×2 + 40.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.597252639675300 + 40.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.597252639675300[0m ×2 + 40.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.109146860670856 + 40.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.109146860670856[0m ×2 + 40.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.209992673384049 + 40.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.209992673384049[0m ×2 + 40.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.939432257054829 + 40.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.939432257054829[0m ×2 + 40.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.108649835884268 + 40.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.108649835884268[0m ×2 + 40.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.709816884945504 + 40.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.709816884945504[0m ×2 + 40.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.371716028085162 + 40.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.371716028085162[0m ×2 + 40.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.723248860507098 + 40.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.723248860507098[0m ×2 + 40.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.119363869461885 + 40.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.119363869461885[0m ×2 + 40.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.056391685879273 + 40.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.056391685879273[0m ×2 + 40.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.918175671980364 + 40.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.918175671980364[0m ×2 + 40.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.580910761212628 + 40.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.580910761212628[0m ×2 + 40.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.394897962056220 + 40.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.394897962056220[0m ×2 + 40.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.829042436047793 + 40.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.829042436047793[0m ×2 + 40.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.246522066517276 + 40.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.246522066517276[0m ×2 + 40.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.667570357129620 + 40.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.667570357129620[0m ×2 + 40.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.078455204585823 + 40.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.078455204585823[0m ×2 + 40.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.454149530321476 + 40.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.454149530321476[0m ×2 + 40.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.819012186307361 + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503715 ms (missed cycles : 4). + 40.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.819012186307361[0m ×2 + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503715 ms (missed cycles : 4).[0m ×2 + 40.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.777255486498003 + 40.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.777255486498003[0m ×2 + 40.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.709552413355473 + 40.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.709552413355473[0m ×2 + 40.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.196235929477053 + 40.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.196235929477053[0m ×2 + 40.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.608388137871231 + 40.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.608388137871231[0m ×2 + 40.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.608388137868529 + 40.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.608388137868529[0m ×2 + 40.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.077843480838617 + 40.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.077843480838617[0m ×2 + 40.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.487208923598654 + 40.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.487208923598654[0m ×2 + 41.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.905245161159446 + 41.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.905245161159446[0m ×2 + 41.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.479512087151648 + 41.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.479512087151648[0m ×2 + 41.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.811036304130944 + 41.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.811036304130944[0m ×2 + 41.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.344246950700612 + 41.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.344246950700612[0m ×2 + 41.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.451159412891137 + 41.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.451159412891137[0m ×2 + 41.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.850879771866236 + 41.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.850879771866236[0m ×2 + 41.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.435880965883980 + 41.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.435880965883980[0m ×2 + 41.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.234349757421500 + 41.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.234349757421500[0m ×2 + 41.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.067057346809058 + 41.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.067057346809058[0m ×2 + 41.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.974737456673143 + 41.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.974737456673143[0m ×2 + 41.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.899309420924926 + 41.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.899309420924926[0m ×2 + 41.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.628843429552678 + 41.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.628843429552678[0m ×2 + 41.14sWARNcontroller_managerOverrun might occur, Total time : 2961.400 us (Expected < 1666.667 us) --> Read time : 224.465 us, Update time : 80.272 us, Write time : 2656.663 us + 41.14sWARNros2_control_nodeOverrun might occur, Total time : 2961.400 us (Expected < 1666.667 us) --> Read time : 224.465 us, Update time : 80.272 us, Write time : 2656.663 us[0m ×2 + 41.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.498823793058349 + 41.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.498823793058349[0m ×2 + 41.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.173799858764450 + 41.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.173799858764450[0m ×2 + 41.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.067905554267231 + 41.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.067905554267231[0m ×2 + 41.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.981997615576489 ×2 + 41.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.981997615576489[0m ×4 + 41.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.753328971271880 + 41.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.753328971271880[0m ×2 + 41.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.794206842801490 ×2 + 41.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.794206842801490[0m ×4 + 41.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.054452578035090 + 41.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.054452578035090[0m ×2 + 41.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.186859903617634 + 41.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.186859903617634[0m ×2 + 41.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.203405601103332 + 41.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.203405601103332[0m ×2 + 41.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.543844703418354 + 41.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.543844703418354[0m ×2 + 41.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.116489243139315 + 41.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.116489243139315[0m ×2 + 41.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.048779412078300 + 41.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.048779412078300[0m ×2 + 41.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.274664932491508 + 41.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.274664932491508[0m ×2 + 41.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.634811015065786 + 41.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.634811015065786[0m ×2 + 41.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.034784226094089 + 41.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.034784226094089[0m ×2 + 41.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 56.064145202360848 + 41.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 56.064145202360848[0m ×2 + 41.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 45.534172281861792 + 41.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 45.534172281861792[0m ×2 + 41.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 400.929828621412526 + 41.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 400.929828621412526[0m ×2 + 41.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3219.302969027306062 ×2 + 41.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3219.302969027306062[0m ×4 + 41.37sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 4. The simulation is unstable. Time = 4.8200. ×10 + 41.37sINFOobjective_server_node ×332 + 41.39sINFOobjective_server_node[0;mRollout divergence at step ×2 + 41.40sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 4.8300. ×316 + 41.40sINFOobjective_server_nodeRollout divergence at step ×330 + 41.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28934.617453538943664 ×5 + 41.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28934.617453538943664[0m ×10 + 41.44sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 3. The simulation is unstable. Time = 4.8300. ×6 + 41.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607189.75238585 seconds ×3 + 41.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290772 ms (missed cycles : 4). + 41.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290772 ms (missed cycles : 4).[0m ×2 + 42.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607190.38757086 seconds. ×3 + 42.14sWARNcontroller_managerOverrun might occur, Total time : 1746.666 us (Expected < 1666.667 us) --> Read time : 231.725 us, Update time : 343.197 us, Write time : 1171.744 us + 42.15sWARNros2_control_nodeOverrun might occur, Total time : 1746.666 us (Expected < 1666.667 us) --> Read time : 231.725 us, Update time : 343.197 us, Write time : 1171.744 us[0m ×2 + 42.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 42.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 42.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 42.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 42.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 42.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 42.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 42.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 42.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 42.28sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 42.28sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 42.29sINFOros2_control_node[2026-06-04 21:06:30.550] [info] Received new action goal ×2 + 42.29sINFOros2_control_node[2026-06-04 21:06:30.550] [info] Accepted new action goal ×2 + 42.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229849 ms (missed cycles : 2). + 42.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229849 ms (missed cycles : 2).[0m ×2 + 43.30sWARNcontroller_managerOverrun might occur, Total time : 1942.490 us (Expected < 1666.667 us) --> Read time : 287.236 us, Update time : 87.322 us, Write time : 1567.932 us + 43.30sWARNros2_control_nodeOverrun might occur, Total time : 1942.490 us (Expected < 1666.667 us) --> Read time : 287.236 us, Update time : 87.322 us, Write time : 1567.932 us[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727566 ms (missed cycles : 5). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727566 ms (missed cycles : 5).[0m ×2 + 44.35sWARNcontroller_managerOverrun might occur, Total time : 2579.933 us (Expected < 1666.667 us) --> Read time : 1748.356 us, Update time : 104.102 us, Write time : 727.475 us + 44.35sWARNros2_control_nodeOverrun might occur, Total time : 2579.933 us (Expected < 1666.667 us) --> Read time : 1748.356 us, Update time : 104.102 us, Write time : 727.475 us[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 33.2s | 216 warnings · 2353 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×358 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×358 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×716 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×716 + 0.30sWARNcontroller_managerOverrun might occur, Total time : 1899.858 us (Expected < 1666.667 us) --> Read time : 1086.412 us, Update time : 325.746 us, Write time : 487.700 us + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 1899.858 us (Expected < 1666.667 us) --> Read time : 1086.412 us, Update time : 325.746 us, Write time : 487.700 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513341 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513341 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 1691.104 us (Expected < 1666.667 us) --> Read time : 328.757 us, Update time : 114.422 us, Write time : 1247.925 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 1691.104 us (Expected < 1666.667 us) --> Read time : 328.757 us, Update time : 114.422 us, Write time : 1247.925 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960591 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960591 ms (missed cycles : 3).[0m ×2 + 2.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.51% of iterations over budget over 4:10.009 of wall time (1160/76595). Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 3.39sWARNcontroller_managerOverrun might occur, Total time : 2137.943 us (Expected < 1666.667 us) --> Read time : 191.704 us, Update time : 89.312 us, Write time : 1856.927 us + 3.39sWARNros2_control_nodeOverrun might occur, Total time : 2137.943 us (Expected < 1666.667 us) --> Read time : 191.704 us, Update time : 89.312 us, Write time : 1856.927 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780607242.20071006 seconds ×3 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702503 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702503 ms (missed cycles : 6).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780607242.85306525 seconds. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 2149.183 us (Expected < 1666.667 us) --> Read time : 307.046 us, Update time : 819.367 us, Write time : 1022.770 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 2149.183 us (Expected < 1666.667 us) --> Read time : 307.046 us, Update time : 819.367 us, Write time : 1022.770 us[0m ×2 + 4.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 5.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348837 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348837 ms (missed cycles : 4).[0m ×2 + 5.30sINFOobjective_server_nodeFound path in 6 iterations (0.00651755 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.37sINFOros2_control_node[2026-06-04 21:07:24.049] [info] Received new action goal ×2 + 5.37sINFOros2_control_node[2026-06-04 21:07:24.049] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 8441.010 us (Expected < 1666.667 us) --> Read time : 225.324 us, Update time : 7613.734 us, Write time : 601.952 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 8441.010 us (Expected < 1666.667 us) --> Read time : 225.324 us, Update time : 7613.734 us, Write time : 601.952 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318121 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318121 ms (missed cycles : 4).[0m ×2 + 7.30sWARNcontroller_managerOverrun might occur, Total time : 1863.388 us (Expected < 1666.667 us) --> Read time : 207.255 us, Update time : 39.670 us, Write time : 1616.463 us + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153667 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun might occur, Total time : 1863.388 us (Expected < 1666.667 us) --> Read time : 207.255 us, Update time : 39.670 us, Write time : 1616.463 us[0m ×2 + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153667 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.455221 ms (missed cycles : 6). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.455221 ms (missed cycles : 6).[0m ×2 + 8.32sWARNcontroller_managerOverrun might occur, Total time : 2200.084 us (Expected < 1666.667 us) --> Read time : 331.006 us, Update time : 864.478 us, Write time : 1004.600 us + 8.32sWARNros2_control_nodeOverrun might occur, Total time : 2200.084 us (Expected < 1666.667 us) --> Read time : 331.006 us, Update time : 864.478 us, Write time : 1004.600 us[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535239 ms (missed cycles : 7). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.535239 ms (missed cycles : 7).[0m ×2 + 9.60sWARNcontroller_managerOverrun might occur, Total time : 1872.008 us (Expected < 1666.667 us) --> Read time : 811.096 us, Update time : 84.482 us, Write time : 976.430 us + 9.60sWARNros2_control_nodeOverrun might occur, Total time : 1872.008 us (Expected < 1666.667 us) --> Read time : 811.096 us, Update time : 84.482 us, Write time : 976.430 us[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306544 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306544 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun might occur, Total time : 1952.440 us (Expected < 1666.667 us) --> Read time : 300.356 us, Update time : 82.852 us, Write time : 1569.232 us + 10.68sWARNros2_control_nodeOverrun might occur, Total time : 1952.440 us (Expected < 1666.667 us) --> Read time : 300.356 us, Update time : 82.852 us, Write time : 1569.232 us[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475697 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475697 ms (missed cycles : 3).[0m ×2 + 12.06sWARNcontroller_managerOverrun might occur, Total time : 3578.462 us (Expected < 1666.667 us) --> Read time : 2952.980 us, Update time : 74.021 us, Write time : 551.461 us + 12.06sWARNros2_control_nodeOverrun might occur, Total time : 3578.462 us (Expected < 1666.667 us) --> Read time : 2952.980 us, Update time : 74.021 us, Write time : 551.461 us[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.487644 ms (missed cycles : 7). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.487644 ms (missed cycles : 7).[0m ×2 + 13.14sWARNcontroller_managerOverrun might occur, Total time : 5032.042 us (Expected < 1666.667 us) --> Read time : 185.574 us, Update time : 4331.747 us, Write time : 514.721 us + 13.14sWARNros2_control_nodeOverrun might occur, Total time : 5032.042 us (Expected < 1666.667 us) --> Read time : 185.574 us, Update time : 4331.747 us, Write time : 514.721 us[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834247 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834247 ms (missed cycles : 2).[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453330 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453330 ms (missed cycles : 3).[0m ×2 + 14.47sWARNcontroller_managerOverrun might occur, Total time : 7120.865 us (Expected < 1666.667 us) --> Read time : 229.255 us, Update time : 6410.710 us, Write time : 480.900 us + 14.47sWARNros2_control_nodeOverrun might occur, Total time : 7120.865 us (Expected < 1666.667 us) --> Read time : 229.255 us, Update time : 6410.710 us, Write time : 480.900 us[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777422 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777422 ms (missed cycles : 2).[0m ×2 + 15.49sWARNcontroller_managerOverrun might occur, Total time : 1763.566 us (Expected < 1666.667 us) --> Read time : 997.880 us, Update time : 281.956 us, Write time : 483.730 us + 15.49sWARNros2_control_nodeOverrun might occur, Total time : 1763.566 us (Expected < 1666.667 us) --> Read time : 997.880 us, Update time : 281.956 us, Write time : 483.730 us[0m ×2 + 15.95sINFOobjective_server_node[0;m[0;93m2026-06-04 21:07:34.627393985 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.95sINFOobjective_server_node[0;93m2026-06-04 21:07:34.627431636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 16.43sINFOobjective_server_node[0;93m2026-06-04 21:07:35.113195802 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 16.43sINFOobjective_server_node[0;93m2026-06-04 21:07:35.113266943 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 16.54sWARNcontroller_managerOverrun might occur, Total time : 2109.283 us (Expected < 1666.667 us) --> Read time : 139.833 us, Update time : 169.433 us, Write time : 1800.017 us + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524922 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun might occur, Total time : 2109.283 us (Expected < 1666.667 us) --> Read time : 139.833 us, Update time : 169.433 us, Write time : 1800.017 us[0m ×2 + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524922 ms (missed cycles : 2).[0m ×2 + 16.55sINFOobjective_server_node[0;93m2026-06-04 21:07:35.233612818 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 16.55sINFOobjective_server_node[0;93m2026-06-04 21:07:35.235914365 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 16.55sINFOobjective_server_node[0;93m2026-06-04 21:07:35.235931905 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 16.88sINFOobjective_server_node[0;93m2026-06-04 21:07:35.561592741 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 16.90sINFOobjective_server_node[0;93m2026-06-04 21:07:35.581258490 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 16.90sINFOobjective_server_node[0;93m2026-06-04 21:07:35.581310301 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.958274 ms (missed cycles : 6). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.958274 ms (missed cycles : 6).[0m ×2 + 17.66sWARNcontroller_managerOverrun might occur, Total time : 1847.738 us (Expected < 1666.667 us) --> Read time : 176.494 us, Update time : 1273.106 us, Write time : 398.138 us + 17.66sWARNros2_control_nodeOverrun might occur, Total time : 1847.738 us (Expected < 1666.667 us) --> Read time : 176.494 us, Update time : 1273.106 us, Write time : 398.138 us[0m ×2 + 17.68sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/masks_visualization" + 17.68sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/masks_visualization"[0m ×2 + 17.81sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.028176 ms (missed cycles : 8). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.028176 ms (missed cycles : 8).[0m ×2 + 18.79sWARNcontroller_managerOverrun might occur, Total time : 2504.801 us (Expected < 1666.667 us) --> Read time : 241.795 us, Update time : 1813.837 us, Write time : 449.169 us + 18.79sWARNros2_control_nodeOverrun might occur, Total time : 2504.801 us (Expected < 1666.667 us) --> Read time : 241.795 us, Update time : 1813.837 us, Write time : 449.169 us[0m ×2 + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336763 ms (missed cycles : 3). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336763 ms (missed cycles : 3).[0m ×2 + 20.21sWARNcontroller_managerOverrun might occur, Total time : 2012.651 us (Expected < 1666.667 us) --> Read time : 181.354 us, Update time : 76.342 us, Write time : 1754.955 us + 20.21sWARNros2_control_nodeOverrun might occur, Total time : 2012.651 us (Expected < 1666.667 us) --> Read time : 181.354 us, Update time : 76.342 us, Write time : 1754.955 us[0m ×2 + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575706 ms (missed cycles : 3). + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575706 ms (missed cycles : 3).[0m ×2 + 21.31sWARNcontroller_managerOverrun might occur, Total time : 2004.360 us (Expected < 1666.667 us) --> Read time : 129.342 us, Update time : 1434.189 us, Write time : 440.829 us + 21.31sWARNros2_control_nodeOverrun might occur, Total time : 2004.360 us (Expected < 1666.667 us) --> Read time : 129.342 us, Update time : 1434.189 us, Write time : 440.829 us[0m ×2 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385422 ms (missed cycles : 4). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385422 ms (missed cycles : 4).[0m ×2 + 21.92sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 22.23sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/solution" + 22.23sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/solution"[0m ×2 + 22.27sINFOobjective_server_nodeFound path in 4 iterations (0.00248508 s). ×2 + 22.33sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 22.36sWARNcontroller_managerOverrun might occur, Total time : 1806.517 us (Expected < 1666.667 us) --> Read time : 266.466 us, Update time : 76.081 us, Write time : 1463.970 us + 22.36sWARNros2_control_nodeOverrun might occur, Total time : 1806.517 us (Expected < 1666.667 us) --> Read time : 266.466 us, Update time : 76.081 us, Write time : 1463.970 us[0m ×2 + 22.37sINFOobjective_server_nodeFound path in 14 iterations (0.00699038 s). ×2 + 22.40sINFOobjective_server_nodePath shortcutter: [X_________________________X____________X________________X] ×2 + 22.43sINFOobjective_server_nodeFound path in 1 iterations (0.00246371 s). ×2 + 22.47sINFOobjective_server_nodePath shortcutter: [X______________________________________X__________________X] ×2 + 22.49sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 22.53sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 22.54sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 22.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 22.59sINFOobjective_server_nodeFound path in 12 iterations (0.00490976 s). ×2 + 22.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 22.66sINFOobjective_server_nodeFound path in 1 iterations (0.00354677 s). ×2 + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556882 ms (missed cycles : 6). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556882 ms (missed cycles : 6).[0m ×2 + 22.71sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 22.73sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 22.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 22.78sINFOobjective_server_nodeFound path in 4 iterations (0.0039455 s). ×2 + 22.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________X] ×2 + 22.88sINFOobjective_server_nodeFound path in 4 iterations (0.00397592 s). ×2 + 22.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] ×2 + 22.98sINFOobjective_server_nodeFound path in 1 iterations (0.00529031 s). ×2 + 23.03sINFOobjective_server_nodePath shortcutter: [X____________________________________X___________________________X] ×2 + 23.06sINFOobjective_server_nodeFound path in 1 iterations (0.002493 s). ×2 + 23.13sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X_________________________X] ×2 + 23.15sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 23.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 23.27sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 23.30sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 23.37sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 23.40sINFOobjective_server_nodeFound path in 0 iterations (1.09e-06 s). ×2 + 23.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 23.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 23.52sINFOros2_control_node[2026-06-04 21:07:42.201] [info] Received new action goal ×2 + 23.52sINFOros2_control_node[2026-06-04 21:07:42.201] [info] Accepted new action goal ×2 + 23.60sWARNcontroller_managerOverrun might occur, Total time : 1975.340 us (Expected < 1666.667 us) --> Read time : 809.507 us, Update time : 218.784 us, Write time : 947.049 us + 23.60sWARNros2_control_nodeOverrun might occur, Total time : 1975.340 us (Expected < 1666.667 us) --> Read time : 809.507 us, Update time : 218.784 us, Write time : 947.049 us[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668112 ms (missed cycles : 2). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668112 ms (missed cycles : 2).[0m ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.021525 ms (missed cycles : 6). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.021525 ms (missed cycles : 6).[0m ×2 + 24.80sWARNcontroller_managerOverrun might occur, Total time : 2451.550 us (Expected < 1666.667 us) --> Read time : 188.504 us, Update time : 1699.704 us, Write time : 563.342 us + 24.80sWARNros2_control_nodeOverrun might occur, Total time : 2451.550 us (Expected < 1666.667 us) --> Read time : 188.504 us, Update time : 1699.704 us, Write time : 563.342 us[0m ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904295 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904295 ms (missed cycles : 2).[0m ×2 + 26.21sWARNcontroller_managerOverrun might occur, Total time : 5072.102 us (Expected < 1666.667 us) --> Read time : 329.016 us, Update time : 3797.657 us, Write time : 945.429 us + 26.21sWARNros2_control_nodeOverrun might occur, Total time : 5072.102 us (Expected < 1666.667 us) --> Read time : 329.016 us, Update time : 3797.657 us, Write time : 945.429 us[0m ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279461 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279461 ms (missed cycles : 2).[0m ×2 + 27.32sWARNcontroller_managerOverrun might occur, Total time : 4567.573 us (Expected < 1666.667 us) --> Read time : 148.553 us, Update time : 3827.398 us, Write time : 591.622 us + 27.32sWARNros2_control_nodeOverrun might occur, Total time : 4567.573 us (Expected < 1666.667 us) --> Read time : 148.553 us, Update time : 3827.398 us, Write time : 591.622 us[0m ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409190 ms (missed cycles : 4). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409190 ms (missed cycles : 4).[0m ×2 + 28.39sWARNcontroller_managerOverrun might occur, Total time : 6857.099 us (Expected < 1666.667 us) --> Read time : 288.756 us, Update time : 68.882 us, Write time : 6499.461 us + 28.39sWARNros2_control_nodeOverrun might occur, Total time : 6857.099 us (Expected < 1666.667 us) --> Read time : 288.756 us, Update time : 68.882 us, Write time : 6499.461 us[0m ×2 + 28.52sINFOros2_control_node[2026-06-04 21:07:47.203] [info] Received new action goal ×2 + 28.52sINFOros2_control_node[2026-06-04 21:07:47.203] [info] Accepted new action goal ×2 + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.755538 ms (missed cycles : 6). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.755538 ms (missed cycles : 6).[0m ×2 + 29.59sWARNcontroller_managerOverrun might occur, Total time : 5023.282 us (Expected < 1666.667 us) --> Read time : 256.225 us, Update time : 4262.707 us, Write time : 504.350 us + 29.59sWARNros2_control_nodeOverrun might occur, Total time : 5023.282 us (Expected < 1666.667 us) --> Read time : 256.225 us, Update time : 4262.707 us, Write time : 504.350 us[0m ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.417314 ms (missed cycles : 7). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.417314 ms (missed cycles : 7).[0m ×2 + 30.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 30.04sINFOros2_control_node[2026-06-04 21:07:48.717] [info] Received new action goal ×2 + 30.04sINFOros2_control_node[2026-06-04 21:07:48.717] [info] Accepted new action goal ×2 + 30.64sWARNcontroller_managerOverrun might occur, Total time : 1737.895 us (Expected < 1666.667 us) --> Read time : 252.285 us, Update time : 88.482 us, Write time : 1397.128 us + 30.64sWARNros2_control_nodeOverrun might occur, Total time : 1737.895 us (Expected < 1666.667 us) --> Read time : 252.285 us, Update time : 88.482 us, Write time : 1397.128 us[0m ×2 + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857286 ms (missed cycles : 3). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857286 ms (missed cycles : 3).[0m ×2 + 31.24sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 31.28sINFOros2_control_node[2026-06-04 21:07:49.959] [info] Received new action goal ×2 + 31.28sINFOros2_control_node[2026-06-04 21:07:49.959] [info] Accepted new action goal ×2 + 31.65sWARNcontroller_managerOverrun might occur, Total time : 6378.839 us (Expected < 1666.667 us) --> Read time : 217.004 us, Update time : 81.062 us, Write time : 6080.773 us + 31.65sWARNros2_control_nodeOverrun might occur, Total time : 6378.839 us (Expected < 1666.667 us) --> Read time : 217.004 us, Update time : 81.062 us, Write time : 6080.773 us[0m ×2 + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748444 ms (missed cycles : 6). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748444 ms (missed cycles : 6).[0m ×2 + 32.75sWARNcontroller_managerOverrun might occur, Total time : 10151.376 us (Expected < 1666.667 us) --> Read time : 141.773 us, Update time : 9427.521 us, Write time : 582.082 us + 32.75sWARNros2_control_nodeOverrun might occur, Total time : 10151.376 us (Expected < 1666.667 us) --> Read time : 141.773 us, Update time : 9427.521 us, Write time : 582.082 us[0m ×2 + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792180 ms (missed cycles : 2). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792180 ms (missed cycles : 2).[0m ×2 + 33.80sWARNcontroller_managerOverrun might occur, Total time : 4884.443 us (Expected < 1666.667 us) --> Read time : 290.716 us, Update time : 3984.334 us, Write time : 609.393 us + 33.80sWARNros2_control_nodeOverrun might occur, Total time : 4884.443 us (Expected < 1666.667 us) --> Read time : 290.716 us, Update time : 3984.334 us, Write time : 609.393 us[0m ×2 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456036 ms (missed cycles : 4). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456036 ms (missed cycles : 4).[0m ×2 + 34.87sWARNcontroller_managerOverrun might occur, Total time : 1996.002 us (Expected < 1666.667 us) --> Read time : 332.407 us, Update time : 88.672 us, Write time : 1574.923 us + 34.87sWARNros2_control_nodeOverrun might occur, Total time : 1996.002 us (Expected < 1666.667 us) --> Read time : 332.407 us, Update time : 88.672 us, Write time : 1574.923 us[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248725 ms (missed cycles : 3). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248725 ms (missed cycles : 3).[0m ×2 + 36.13sWARNcontroller_managerOverrun might occur, Total time : 4811.022 us (Expected < 1666.667 us) --> Read time : 291.236 us, Update time : 3972.295 us, Write time : 547.491 us + 36.13sWARNros2_control_nodeOverrun might occur, Total time : 4811.022 us (Expected < 1666.667 us) --> Read time : 291.236 us, Update time : 3972.295 us, Write time : 547.491 us[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128002 ms (missed cycles : 3). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128002 ms (missed cycles : 3).[0m ×2 + 36.68sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780607275.36335826 seconds ×3 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998373 ms (missed cycles : 2). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998373 ms (missed cycles : 2).[0m ×2 + 37.39sWARNcontroller_managerOverrun might occur, Total time : 2301.339 us (Expected < 1666.667 us) --> Read time : 255.205 us, Update time : 75.392 us, Write time : 1970.742 us + 37.39sWARNros2_control_nodeOverrun might occur, Total time : 2301.339 us (Expected < 1666.667 us) --> Read time : 255.205 us, Update time : 75.392 us, Write time : 1970.742 us[0m ×2 + 37.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780607276.17310500 seconds. ×3 + 37.68sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 37.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 37.69sINFOros2_control_node[2026-06-04 21:07:56.367] [info] Received new action goal ×2 + 37.69sINFOros2_control_node[2026-06-04 21:07:56.367] [info] Accepted new action goal ×2 + 37.92sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 37.92sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 37.92sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 37.92sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 37.92sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 37.92sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678881 ms (missed cycles : 4). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678881 ms (missed cycles : 4).[0m ×2 + 38.41sWARNcontroller_managerOverrun might occur, Total time : 4511.937 us (Expected < 1666.667 us) --> Read time : 360.538 us, Update time : 98.332 us, Write time : 4053.067 us + 38.42sWARNros2_control_nodeOverrun might occur, Total time : 4511.937 us (Expected < 1666.667 us) --> Read time : 360.538 us, Update time : 98.332 us, Write time : 4053.067 us[0m ×2 + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793240 ms (missed cycles : 6). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793240 ms (missed cycles : 6).[0m ×2 + 39.52sWARNcontroller_managerOverrun might occur, Total time : 2417.092 us (Expected < 1666.667 us) --> Read time : 173.884 us, Update time : 1808.399 us, Write time : 434.809 us + 39.52sWARNros2_control_nodeOverrun might occur, Total time : 2417.092 us (Expected < 1666.667 us) --> Read time : 173.884 us, Update time : 1808.399 us, Write time : 434.809 us[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 31.5s | 4155 errors · 213 warnings · 8617 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2107 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001330611288 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4214 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001330611288[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002292168325 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002292168325[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001215981948 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001215981948[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002766272784 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002766272784[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003182253212 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003182253212[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003110759702 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003110759702[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001725559632 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001725559632[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000994092988 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000994092988[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003132273111 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003132273111[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001819149238 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001819149238[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001579729356 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001579729356[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002093122886 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002093122886[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002003207882 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002003207882[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002328650356 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002328650356[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002821751118 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002821751118[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000481301320 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000481301320[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003943212017 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003943212017[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003319278062 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003319278062[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000575843914 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000575843914[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001698969862 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001698969862[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 2205.528 us (Expected < 1666.667 us) --> Read time : 301.197 us, Update time : 1479.451 us, Write time : 424.880 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2205.528 us (Expected < 1666.667 us) --> Read time : 301.197 us, Update time : 1479.451 us, Write time : 424.880 us[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002930301227 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002930301227[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002798259508 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002798259508[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001050396427 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001050396427[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001508085753 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001508085753[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002137588272 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002137588272[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001810565963 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001810565963[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001686353639 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001686353639[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002585039553 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002585039553[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997768596 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997768596[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001374079778 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001374079778[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002838017536 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002838017536[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003143561344 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003143561344[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000012492515682 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000012492515682[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003082823798 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003082823798[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003536394427 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003536394427[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000382182493 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000382182493[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003719075244 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003719075244[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002611884661 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002611884661[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009990372862 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009990372862[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003196512118 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003196512118[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002397069404 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002397069404[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011802180068 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011802180068[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003290695176 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003290695176[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292171642 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292171642[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002067508337 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002067508337[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000575689696 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000575689696[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001884496733 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001884496733[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001939602954 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001939602954[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000886649773 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000886649773[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002432903150 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002432903150[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000569869894 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000569869894[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001280163766 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001280163766[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002113807306 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002113807306[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002654221709 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002654221709[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152819914 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152819914[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002525899198 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002525899198[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002811529187 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002811529187[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000556548103 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000556548103[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003184664968 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003184664968[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001289795656 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001289795656[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724338916 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724338916[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000983798925 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000983798925[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000557975084 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000557975084[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001391127848 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001391127848[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001126698701 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001126698701[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000555482590 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000555482590[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400035 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400035 ms (missed cycles : 3).[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001659702289 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001659702289[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000649929497 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000649929497[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001610282155 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001610282155[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001220972931 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001220972931[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000702667399 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000702667399[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000767173884 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000767173884[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001111300553 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001111300553[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000989055884 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000989055884[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000853334995 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000853334995[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001411528656 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001411528656[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000483180201 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000483180201[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000764029967 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000764029967[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001038303357 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001038303357[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000434338074 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000434338074[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001630076015 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001630076015[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968537730 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968537730[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474066083 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474066083[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000441252409 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000441252409[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001392061584 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001392061584[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000952482497 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000952482497[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005644604866 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005644604866[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000787853304 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000787853304[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000661702035 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000661702035[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000804709742 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000804709742[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001114017584 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001114017584[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001018832520 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001018832520[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561665144 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561665144[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000337338990 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000337338990[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997208626 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997208626[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000616998280 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000616998280[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488729740 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488729740[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707298030 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707298030[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001086994550 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001086994550[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000518297407 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000518297407[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000629860670 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000629860670[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000962272079 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000962272079[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001428623790 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001428623790[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000170435245 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000170435245[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001271379835 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001271379835[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000766033145 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000766033145[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000493379837 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000493379837[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000529512214 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000529512214[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716644642 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716644642[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000326992278 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000326992278[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001078341200 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001078341200[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000712089806 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000712089806[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000479435418 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000479435418[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000453794914 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000453794914[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000706236747 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000706236747[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000611092395 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000611092395[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000347506176 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000347506176[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200402379 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200402379[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001216967405 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001216967405[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000847900236 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000847900236[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000550711967 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000550711967[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000272484275 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000272484275[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000882093916 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3175.278 us (Expected < 1666.667 us) --> Read time : 2539.994 us, Update time : 98.152 us, Write time : 537.132 us + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000882093916[0m ×2 + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3175.278 us (Expected < 1666.667 us) --> Read time : 2539.994 us, Update time : 98.152 us, Write time : 537.132 us[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000858179908 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000858179908[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000640662883 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000640662883[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003173384864 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003173384864[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000861629684 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000861629684[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000417991614 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000417991614[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388208684 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388208684[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279883390 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279883390[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001088260670 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001088260670[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328107222 + 1.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328107222[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000713553884 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000713553884[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000302935272 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000302935272[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438012661 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438012661[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003235471392 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003235471392[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000911785540 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000911785540[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525050872 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525050872[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000383111339 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000383111339[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000163445553 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000163445553[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573094997 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573094997[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000566561743 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000566561743[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000407496032 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000407496032[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000380282198 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000380282198[0m ×2 + 1.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476682909 + 1.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476682909[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236127163 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236127163[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337948621 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337948621[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168732418 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168732418[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000809970271 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000809970271[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002892175234 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002892175234[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000425208849 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000425208849[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616273566 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616273566[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000208525507 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000208525507[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000442837486 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000442837486[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000613313034 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000613313034[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004025554604 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004025554604[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237909470 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237909470[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000645795925 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000645795925[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003411787662 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003411787662[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000383140513 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000383140513[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000562731090 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000562731090[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000352719806 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000352719806[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387279160 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387279160[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000546026629 + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000546026629[0m ×2 + 1.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317771063 + 1.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317771063[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176137 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176137 ms (missed cycles : 2).[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000353305817 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000353305817[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000401589575 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000401589575[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001366118141 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001366118141[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292881678 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292881678[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001873508887 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001873508887[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000243851932 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000243851932[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286096893 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286096893[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281333200 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281333200[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000215817273 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000215817273[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156098014 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156098014[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000358467828 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000358467828[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221994815 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221994815[0m ×2 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002008970381 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002008970381[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000545993749 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000545993749[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001258199065 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001258199065[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184919889 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184919889[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337092031 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337092031[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001677494358 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001677494358[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000402267304 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000402267304[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000243915358 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000243915358[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001589411618 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001589411618[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000256843486 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000256843486[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193101412 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193101412[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001690655479 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001690655479[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000289257261 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000289257261[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267833695 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267833695[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000260972933 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000260972933[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163327925 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163327925[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159550400 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159550400[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000359735254 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000359735254[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000128936461 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000128936461[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268940637 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268940637[0m ×2 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002570522763 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002570522763[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180374745 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180374745[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000242428457 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000242428457[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152957150 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152957150[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266020306 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266020306[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000232410879 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000232410879[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001362652111 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001362652111[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267425034 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267425034[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000197414539 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000197414539[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102479554 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102479554[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000205785771 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000205785771[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000186651276 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000186651276[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001295577323 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001295577323[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200141998 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200141998[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001320961213 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001320961213[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000853832495 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000853832495[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000360293951 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000360293951[0m ×2 + 2.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000161193217 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000161193217[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001152232131 + 2.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001152232131[0m ×2 + 2.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000223451156 + 2.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000223451156[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001588550468 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001588550468[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001339206877 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001339206877[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167252401 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167252401[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001898162729 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001898162729[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583487676 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583487676[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158844151 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001622015115 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158844151[0m ×2 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001622015115[0m ×2 + 2.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001100732580 + 2.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001100732580[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137584901 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137584901[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001290605915 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001290605915[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001099224439 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001099224439[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000127002723 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000127002723[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266438480 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266438480[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001076825892 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001076825892[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001750279733 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001750279733[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001403634826 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001403634826[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000126629422 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000126629422[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158332532 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158332532[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001118686878 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001118686878[0m ×2 + 2.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000922523360 + 2.32sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000922523360[0m ×2 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215191553 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215191553[0m ×2 + 2.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001317425852 + 2.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001317425852[0m ×2 + 2.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692030069 + 2.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692030069[0m ×2 + 2.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000947254890 + 2.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000947254890[0m ×2 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196437619 + 2.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196437619[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000141584372 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000141584372[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692579336 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692579336[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000560959621 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000560959621[0m ×2 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 4599.409 us (Expected < 1666.667 us) --> Read time : 3943.805 us, Update time : 97.882 us, Write time : 557.722 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 4599.409 us (Expected < 1666.667 us) --> Read time : 3943.805 us, Update time : 97.882 us, Write time : 557.722 us[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369306564 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369306564[0m ×2 + 2.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000301420274 + 2.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000301420274[0m ×2 + 2.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000847677697 + 2.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000847677697[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000679769561 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000679769561[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000548195224 + 2.49sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000548195224[0m ×2 + 2.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000445142354 + 2.49sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000445142354[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000388244163 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000388244163[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000786009914 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000786009914[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135364284 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135364284[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000694686251 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000694686251[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000554556445 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000554556445[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000443416507 + 2.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000443416507[0m ×2 + 2.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000354406733 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000354406733[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000283261930 ×2 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000283261930[0m ×4 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000226325461 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000226325461[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000180730509 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000180730509[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000144213957 ×2 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000144213957[0m ×4 + 2.64sINFOjoint_trajectory_controllerAccepted new action goal ×722 + 2.64sINFOros2_control_nodeAccepted new action goal[0m ×1444 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720205 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720205 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607210.68744588 seconds ×3 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.64sWARNcontroller_managerOverrun might occur, Total time : 1921.682 us (Expected < 1666.667 us) --> Read time : 269.216 us, Update time : 703.345 us, Write time : 949.121 us + 3.64sWARNros2_control_nodeOverrun might occur, Total time : 1921.682 us (Expected < 1666.667 us) --> Read time : 269.216 us, Update time : 703.345 us, Write time : 949.121 us[0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733762 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733762 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.12sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780607211.29071832 seconds. ×3 + 4.19sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view" + 4.19sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 4.30sINFOros2_control_node[2026-06-04 21:06:51.475] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-06-04 21:06:51.475] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2002.103 us (Expected < 1666.667 us) --> Read time : 201.524 us, Update time : 138.733 us, Write time : 1661.846 us + 4.72sWARNros2_control_nodeOverrun might occur, Total time : 2002.103 us (Expected < 1666.667 us) --> Read time : 201.524 us, Update time : 138.733 us, Write time : 1661.846 us[0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050984 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050984 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun might occur, Total time : 2501.984 us (Expected < 1666.667 us) --> Read time : 251.336 us, Update time : 947.490 us, Write time : 1303.158 us + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697145 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun might occur, Total time : 2501.984 us (Expected < 1666.667 us) --> Read time : 251.336 us, Update time : 947.490 us, Write time : 1303.158 us[0m ×2 + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697145 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936526 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936526 ms (missed cycles : 5).[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 1706.317 us (Expected < 1666.667 us) --> Read time : 228.275 us, Update time : 73.032 us, Write time : 1405.010 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 1706.317 us (Expected < 1666.667 us) --> Read time : 228.275 us, Update time : 73.032 us, Write time : 1405.010 us[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697193 ms (missed cycles : 3). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697193 ms (missed cycles : 3).[0m ×2 + 7.95sWARNcontroller_managerOverrun might occur, Total time : 11782.874 us (Expected < 1666.667 us) --> Read time : 184.164 us, Update time : 10995.107 us, Write time : 603.603 us + 7.96sWARNros2_control_nodeOverrun might occur, Total time : 11782.874 us (Expected < 1666.667 us) --> Read time : 184.164 us, Update time : 10995.107 us, Write time : 603.603 us[0m ×2 + 8.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 8.60sINFOros2_control_node[2026-06-04 21:06:55.770] [info] Received new action goal ×2 + 8.60sINFOros2_control_node[2026-06-04 21:06:55.770] [info] Accepted new action goal ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029199 ms (missed cycles : 4). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029199 ms (missed cycles : 4).[0m ×2 + 9.03sWARNcontroller_managerOverrun might occur, Total time : 2045.554 us (Expected < 1666.667 us) --> Read time : 241.325 us, Update time : 765.347 us, Write time : 1038.882 us + 9.03sWARNros2_control_nodeOverrun might occur, Total time : 2045.554 us (Expected < 1666.667 us) --> Read time : 241.325 us, Update time : 765.347 us, Write time : 1038.882 us[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572450 ms (missed cycles : 3). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572450 ms (missed cycles : 3).[0m ×2 + 10.10sWARNcontroller_managerOverrun might occur, Total time : 2858.231 us (Expected < 1666.667 us) --> Read time : 290.366 us, Update time : 2062.834 us, Write time : 505.031 us + 10.10sWARNros2_control_nodeOverrun might occur, Total time : 2858.231 us (Expected < 1666.667 us) --> Read time : 290.366 us, Update time : 2062.834 us, Write time : 505.031 us[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446965 ms (missed cycles : 4). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446965 ms (missed cycles : 4).[0m ×2 + 11.01sINFOros2_control_node[2026-06-04 21:06:58.177] [info] Received new action goal ×2 + 11.01sINFOros2_control_node[2026-06-04 21:06:58.177] [info] Accepted new action goal ×2 + 11.16sWARNcontroller_managerOverrun might occur, Total time : 8446.681 us (Expected < 1666.667 us) --> Read time : 219.074 us, Update time : 7352.499 us, Write time : 875.108 us + 11.16sWARNros2_control_nodeOverrun might occur, Total time : 8446.681 us (Expected < 1666.667 us) --> Read time : 219.074 us, Update time : 7352.499 us, Write time : 875.108 us[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179715 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179715 ms (missed cycles : 3).[0m ×2 + 12.17sWARNcontroller_managerOverrun might occur, Total time : 10165.029 us (Expected < 1666.667 us) --> Read time : 231.705 us, Update time : 9265.540 us, Write time : 667.784 us + 12.17sWARNros2_control_nodeOverrun might occur, Total time : 10165.029 us (Expected < 1666.667 us) --> Read time : 231.705 us, Update time : 9265.540 us, Write time : 667.784 us[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658206 ms (missed cycles : 4). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658206 ms (missed cycles : 4).[0m ×2 + 13.17sWARNcontroller_managerOverrun might occur, Total time : 1740.167 us (Expected < 1666.667 us) --> Read time : 245.085 us, Update time : 71.041 us, Write time : 1424.041 us + 13.17sWARNros2_control_nodeOverrun might occur, Total time : 1740.167 us (Expected < 1666.667 us) --> Read time : 245.085 us, Update time : 71.041 us, Write time : 1424.041 us[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158491 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158491 ms (missed cycles : 2).[0m ×2 + 14.20sWARNcontroller_managerOverrun might occur, Total time : 2181.817 us (Expected < 1666.667 us) --> Read time : 206.704 us, Update time : 1482.302 us, Write time : 492.811 us + 14.20sWARNros2_control_nodeOverrun might occur, Total time : 2181.817 us (Expected < 1666.667 us) --> Read time : 206.704 us, Update time : 1482.302 us, Write time : 492.811 us[0m ×2 + 14.79sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures" + 14.79sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/pcd_pointcloud_captures"[0m ×2 + 14.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983527 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983527 ms (missed cycles : 2).[0m ×2 + 15.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 15.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 15.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 15.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.30sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 15.30sINFOfoxglove_bridgeRemoving channel 79 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 15.57sWARNcontroller_managerOverrun might occur, Total time : 2086.874 us (Expected < 1666.667 us) --> Read time : 264.615 us, Update time : 845.559 us, Write time : 976.700 us + 15.57sWARNros2_control_nodeOverrun might occur, Total time : 2086.874 us (Expected < 1666.667 us) --> Read time : 264.615 us, Update time : 845.559 us, Write time : 976.700 us[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449526 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449526 ms (missed cycles : 2).[0m ×2 + 16.59sWARNcontroller_managerOverrun might occur, Total time : 1776.148 us (Expected < 1666.667 us) --> Read time : 870.569 us, Update time : 103.072 us, Write time : 802.507 us + 16.60sWARNros2_control_nodeOverrun might occur, Total time : 1776.148 us (Expected < 1666.667 us) --> Read time : 870.569 us, Update time : 103.072 us, Write time : 802.507 us[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719051 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719051 ms (missed cycles : 2).[0m ×2 + 17.74sWARNcontroller_managerOverrun might occur, Total time : 2382.921 us (Expected < 1666.667 us) --> Read time : 276.766 us, Update time : 92.322 us, Write time : 2013.833 us + 17.74sWARNros2_control_nodeOverrun might occur, Total time : 2382.921 us (Expected < 1666.667 us) --> Read time : 276.766 us, Update time : 92.322 us, Write time : 2013.833 us[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522484345849 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522484345849[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000957401929301 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000957401929301[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828355932846 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001828355932846[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132307501363 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002132307501363[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022369125042 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022369125042[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438815780202 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001438815780202[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002316990793598 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002316990793598[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333961072335 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333961072335[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000637189214170 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000637189214170[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265902657485 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000265902657485[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056682221909 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056682221909[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517575627017 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517575627017[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000697301418336 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000697301418336[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390000068511 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390000068511[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001722001719389 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001722001719389[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000845889072485 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000845889072485[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000846010964166 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000846010964166[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240508860606 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000240508860606[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073270343079 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073270343079[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016689781169 ×2 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016689781169[0m ×4 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580531329390 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580531329390[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828742720044 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828742720044[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000441458926111 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000441458926111[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048262340761 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048262340761[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030350382002 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030350382002[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073636420891 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073636420891[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125871834891 ×2 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125871834891[0m ×4 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299738633677 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299738633677[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000297512444220 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000297512444220[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173992712151 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173992712151[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118916781928 ×2 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118916781928[0m ×4 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123114 ms (missed cycles : 5). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123114 ms (missed cycles : 5).[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541974222098 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001541974222098[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090535116265 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090535116265[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896997165298 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896997165298[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002415487696177 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002415487696177[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396605432358 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001396605432358[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641389873197 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641389873197[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381514340709 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002381514340709[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365379102990 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365379102990[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000706385913579 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000706385913579[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111179904768 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111179904768[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000378407774899 ×2 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000378407774899[0m ×4 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000403279392108 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000403279392108[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299014665656 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299014665656[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000353770863531 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000353770863531[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119889483419 ×2 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119889483419[0m ×4 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001268955169921 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001268955169921[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002291056482038 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002291056482038[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165275033566 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165275033566[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952714826539 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952714826539[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982550792130 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982550792130[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002324235024392 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002324235024392[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223437804890 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223437804890[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634337769841 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634337769841[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000735010815392 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000735010815392[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000278236605811 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000278236605811[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145422733810 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145422733810[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276441683998 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276441683998[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000355886380911 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000355886380911[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357316270506 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357316270506[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022867621678 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022867621678[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042293718628 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042293718628[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078589500642 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078589500642[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592299692872 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592299692872[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000898623766241 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000898623766241[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000549678303907 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000549678303907[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000233327795770 ×2 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000233327795770[0m ×4 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049613868812 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000049613868812[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697691856951 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697691856951[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799526593557 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799526593557[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615878030235 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002615878030235[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490163049971 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490163049971[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884851800707 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884851800707[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152434834580 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152434834580[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114223670575 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114223670575[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085254332001 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085254332001[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091861466492 ×2 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091861466492[0m ×4 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000294064021695 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000294064021695[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203435224915 ×2 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000203435224915[0m ×4 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134225512953 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134225512953[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083568955115 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083568955115[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000221775083951 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000221775083951[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147134227790 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147134227790[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080737121709 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080737121709[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000554106560986 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000554106560986[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001109131669393 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001109131669393[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000711207528533 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000711207528533[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003253354932258 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003253354932258[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810320028083 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810320028083[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909198767075 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909198767075[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225724843201 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225724843201[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409000688006 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409000688006[0m ×2 + 18.75sWARNcontroller_managerOverrun might occur, Total time : 2378.441 us (Expected < 1666.667 us) --> Read time : 1803.469 us, Update time : 82.132 us, Write time : 492.840 us + 18.75sWARNros2_control_nodeOverrun might occur, Total time : 2378.441 us (Expected < 1666.667 us) --> Read time : 1803.469 us, Update time : 82.132 us, Write time : 492.840 us[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962190295505 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001962190295505[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432434837273 ×2 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432434837273[0m ×4 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096716207965 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096716207965[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075504123922 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075504123922[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304600680033 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304600680033[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000261457855249 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000261457855249[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204024161658 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204024161658[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000298945591499 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000298945591499[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000359851964246 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000359851964246[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225186099169 ×2 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225186099169[0m ×4 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000138602245526 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000138602245526[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000115615970182 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000115615970182[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094390226812 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094390226812[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000789558509374 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000789558509374[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318189630894 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000318189630894[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183929291521 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183929291521[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073507162397 ×2 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073507162397[0m ×4 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069607546591 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069607546591[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060993151919 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060993151919[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050851450140 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050851450140[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251854945754 ×2 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000251854945754[0m ×4 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161154641639 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161154641639[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000525784398858 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000525784398858[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000168761735429 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000168761735429[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207168872414 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002207168872414[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443920342832 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443920342832[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729014229584 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729014229584[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729392116623 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729392116623[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299574730535 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299574730535[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152930045316 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152930045316[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047495768054 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047495768054[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014396587753 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014396587753[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499673545396 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499673545396[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000941617237572 ×2 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000941617237572[0m ×4 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002084435869371 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002084435869371[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577243306158 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577243306158[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995198 ms (missed cycles : 2). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995198 ms (missed cycles : 2).[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001293079466242 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001293079466242[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105344537302 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105344537302[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000148247131678 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000148247131678[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158783408109 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158783408109[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000143554637121 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000143554637121[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000129338131755 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000129338131755[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233638799420 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233638799420[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268959740674 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268959740674[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174544473888 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174544473888[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000108920951909 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000108920951909[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065682065646 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065682065646[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037516154065 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037516154065[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167633158273 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167633158273[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107601734216 ×2 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107601734216[0m ×4 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067178715432 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067178715432[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172097186167 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172097186167[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109362671343 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109362671343[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174326603769 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174326603769[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109537346459 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109537346459[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066554146028 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066554146028[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000154220965634 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000154220965634[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000154448021152 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000154448021152[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099118067412 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099118067412[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062609705486 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062609705486[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027595421639 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027595421639[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027882877876 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027882877876[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099117029296 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000099117029296[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000351933860515 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000351933860515[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000148758730677 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000148758730677[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000153179404941 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000153179404941[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042517111155 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042517111155[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001484135239559 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001484135239559[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940984216709 ×2 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940984216709[0m ×4 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359552165761 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359552165761[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000723215006558 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000723215006558[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001907695891056 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001907695891056[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001901931337899 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001901931337899[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000637941480027 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000637941480027[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001601785898159 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001601785898159[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410447617927 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410447617927[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936718227750 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936718227750[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497168821338 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497168821338[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005443131600279 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005443131600279[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473839785642 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473839785642[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272930918352 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272930918352[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711284536124 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711284536124[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470392458766 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470392458766[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212168957530 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212168957530[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399490540079 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004399490540079[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836517143775 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836517143775[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136492298392 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136492298392[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690682449274 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690682449274[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689954785577 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689954785577[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073880270692 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073880270692[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511060488264 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511060488264[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952042671106 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952042671106[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597821349268 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597821349268[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405774420716 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405774420716[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894443319363 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894443319363[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571232099329 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571232099329[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379320465734 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379320465734[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887103906650 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887103906650[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574591802175 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574591802175[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654985132577 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654985132577[0m ×2 + 19.78sWARNcontroller_managerOverrun might occur, Total time : 2969.413 us (Expected < 1666.667 us) --> Read time : 243.975 us, Update time : 2103.435 us, Write time : 622.003 us + 19.79sWARNros2_control_nodeOverrun might occur, Total time : 2969.413 us (Expected < 1666.667 us) --> Read time : 243.975 us, Update time : 2103.435 us, Write time : 622.003 us[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083584165800 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083584165800[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109196724669 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109196724669[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546748474931 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546748474931[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752753272263 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752753272263[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497352766608 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497352766608[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476245940781 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476245940781[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697278993405 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697278993405[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846142296644 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846142296644[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005654933789212 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005654933789212[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789928372171 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789928372171[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449121834156 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449121834156[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569362738815 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569362738815[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007087602503 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005007087602503[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254793995371 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254793995371[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765697623890 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765697623890[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732873080855 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732873080855[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969784344581 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969784344581[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240475199381 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240475199381[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801656585687 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801656585687[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724055340731 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003724055340731[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818266560575 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818266560575[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497788875780 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497788875780[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004622961729392 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004622961729392[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029972388308 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029972388308[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839119228560 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839119228560[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154885674422 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004154885674422[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979222409774 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979222409774[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236709258812 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236709258812[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755205988386 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755205988386[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735567722284 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735567722284[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094108847284 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094108847284[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947632267429 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947632267429[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223734970408 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223734970408[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753231767829 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753231767829[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731583269854 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731583269854[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968535203657 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004968535203657[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243772721864 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243772721864[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037938797548 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037938797548[0m ×2 + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214923 ms (missed cycles : 2). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214923 ms (missed cycles : 2).[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273286143850 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273286143850[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799321437355 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799321437355[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808239436373 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808239436373[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177072448544 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177072448544[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985997331509 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004985997331509[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118828765923 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118828765923[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015804342687 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015804342687[0m ×2 + 20.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005562848725278 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005562848725278[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004611858225891 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004611858225891[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247717846126 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247717846126[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005250940583535 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005250940583535[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379255895882 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379255895882[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080857367476 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080857367476[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263466072706 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263466072706[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752288815405 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752288815405[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759494151121 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004759494151121[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399258484836 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399258484836[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513386889966 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513386889966[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191714497891 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191714497891[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005319846898826 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005319846898826[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429016721711 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429016721711[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114053044773 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114053044773[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283206268998 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283206268998[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015171085955 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015171085955[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143171098387 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143171098387[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208394810095 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208394810095[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464546402282 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464546402282[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261043792723 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261043792723[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737340061583 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737340061583[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724568300120 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724568300120[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310712530105 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310712530105[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405251207387 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405251207387[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212492169131 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212492169131[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322946374747 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322946374747[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736059523616 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736059523616[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004725647811937 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004725647811937[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005533106283481 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005533106283481[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597093362883 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597093362883[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235601003966 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235601003966[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365281526057 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365281526057[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063031944545 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063031944545[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176785690659 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176785690659[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436276436980 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436276436980[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234209705793 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234209705793[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706749379963 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005706749379963[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005960342019837 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005960342019837[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352515991348 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003352515991348[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004509622784901 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004509622784901[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005245202544242 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005245202544242[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683283114625 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683283114625[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005920569619974 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005920569619974[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766731217015 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766731217015[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572293612262 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005572293612262[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511698659630 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004511698659630[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090271620799 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090271620799[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466335778244 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466335778244[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435963240058 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435963240058[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038621747177 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005038621747177[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172079425854 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172079425854[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887459476544 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004887459476544[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005355971325929 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005355971325929[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385130134107 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385130134107[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189406480552 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189406480552[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266265787430 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266265787430[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944929517214 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944929517214[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005384494328376 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005384494328376[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396214666795 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396214666795[0m ×2 + 20.86sWARNcontroller_managerOverrun might occur, Total time : 3635.077 us (Expected < 1666.667 us) --> Read time : 293.766 us, Update time : 2747.919 us, Write time : 593.392 us + 20.86sWARNros2_control_nodeOverrun might occur, Total time : 3635.077 us (Expected < 1666.667 us) --> Read time : 293.766 us, Update time : 2747.919 us, Write time : 593.392 us[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005199803855019 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005199803855019[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109420018049 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109420018049[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352226218647 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352226218647[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005141723596695 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005141723596695[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617712857265 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617712857265[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876611755472 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876611755472[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995525666604 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995525666604[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772169060696 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772169060696[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005574590293939 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005574590293939[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005731699356633 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005731699356633[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149077790288 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149077790288[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332842291328 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332842291328[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814375826338 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814375826338[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022374701385 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006022374701385[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006097407466203 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006097407466203[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368962381742 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368962381742[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758541598750 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758541598750[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687116757599 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687116757599[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916251543577 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916251543577[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817576447548 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817576447548[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295408846002 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295408846002[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006300850272391 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006300850272391[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984021848781 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984021848781[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360688491593 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360688491593[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005591200417127 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005591200417127[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023487521702 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023487521702[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004740346285968 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004740346285968[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005161136956680 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005161136956680[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437100426538 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437100426538[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869014564161 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869014564161[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893434377278 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893434377278[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004623705571718 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004623705571718[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063773241992 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063773241992[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360568138425 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005360568138425[0m ×2 + 21.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663580 ms (missed cycles : 4). + 21.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663580 ms (missed cycles : 4).[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791984423659 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791984423659[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121109796081 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121109796081[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574928480751 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574928480751[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565144251200 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565144251200[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006036910792188 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006036910792188[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006115223993944 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006115223993944[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295057704322 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295057704322[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417451370798 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417451370798[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548637960463 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548637960463[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247819785798 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247819785798[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006716192398394 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006716192398394[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006564067578467 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006564067578467[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006380585146870 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006380585146870[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006201346318295 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006201346318295[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006044431287237 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006044431287237[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006473858522857 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006473858522857[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006185360801597 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006185360801597[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005975475570555 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005975475570555[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005829786804829 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005829786804829[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984256182272 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003984256182272[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423827677558 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423827677558[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421961714134 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421961714134[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884867436458 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884867436458[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979973220913 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005979973220913[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987205401971 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987205401971[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947749193603 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005947749193603[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888469094083 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888469094083[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006678730901880 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006678730901880[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006318571193268 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006318571193268[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053508318258 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053508318258[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005866426016768 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005866426016768[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006263298076046 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006263298076046[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062236142689 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062236142689[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005906939712260 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005906939712260[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137769242795 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137769242795[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005934768686601 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005934768686601[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005792696448937 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005792696448937[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695869492766 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695869492766[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005926334595445 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005926334595445[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282934365010 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006282934365010[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006066772056976 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006066772056976[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899860664997 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899860664997[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776183908688 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776183908688[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006229358848677 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006229358848677[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037197853437 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037197853437[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883047150099 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005883047150099[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765098095131 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765098095131[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006548638428664 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006548638428664[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006166537966993 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006166537966993[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899022302415 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899022302415[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006205611854427 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006205611854427[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006434652326022 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006434652326022[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006502158042933 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006502158042933[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190209805674 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006190209805674[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005952906249886 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005952906249886[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005779602970440 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005779602970440[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006559752826426 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006559752826426[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143885272765 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143885272765[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005856757487849 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005856757487849[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005673119770959 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005673119770959[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005552750254496 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005552750254496[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006331359631285 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006331359631285[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005967011807281 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005967011807281[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724610410785 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005724610410785[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006078681634027 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006078681634027[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006326143717606 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006326143717606[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006066378297511 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006066378297511[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005862560179592 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005862560179592[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709492708116 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709492708116[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007141767654629 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007141767654629[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006490138284004 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006490138284004[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006035762615934 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006035762615934[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734007513990 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734007513990[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005542168746970 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005542168746970[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428743096476 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005428743096476[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005368056604924 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005368056604924[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007602112328695 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007602112328695[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006743544531374 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006743544531374[0m ×2 + 22.00sWARNcontroller_managerOverrun might occur, Total time : 3635.778 us (Expected < 1666.667 us) --> Read time : 2941.943 us, Update time : 106.342 us, Write time : 587.493 us + 22.00sWARNros2_control_nodeOverrun might occur, Total time : 3635.778 us (Expected < 1666.667 us) --> Read time : 2941.943 us, Update time : 106.342 us, Write time : 587.493 us[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007161006895236 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007161006895236[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345861890954 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345861890954[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925393394312 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925393394312[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008184426181623 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008184426181623[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007292184126155 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007292184126155[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006614904056923 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006614904056923[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207560649536 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207560649536[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007598417706004 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007598417706004[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006836821427283 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006836821427283[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006274457663198 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006274457663198[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008094292068186 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008094292068186[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006985432162408 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006985432162408[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006226830046719 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006226830046719[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006991266500360 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006991266500360[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293935293485 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293935293485[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840247054854 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840247054854[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007250241676828 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007250241676828[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006421804245418 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006421804245418[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834757 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834757 ms (missed cycles : 2).[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869157122114 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005869157122114[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519575548687 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519575548687[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007517248391730 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007517248391730[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006571649953954 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006571649953954[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006983066211726 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006983066211726[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195309151759 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195309151759[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005686117834066 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005686117834066[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376094373422 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005376094373422[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007399896610855 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007399896610855[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154691347474 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154691347474[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005564408528269 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005564408528269[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007681212657743 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007681212657743[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006781802967454 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006781802967454[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008331155167442 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008331155167442[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007067321462116 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007067321462116[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006207694622954 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006207694622954[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007833898033871 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007833898033871[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007868857955926 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007868857955926[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006498350582639 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006498350582639[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005870525672099 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005870525672099[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007645870556269 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007645870556269[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006579940747742 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006579940747742[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873073758561 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873073758561[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007599868348949 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007599868348949[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006387189488804 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006387189488804[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007769637526941 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007769637526941[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006657836095497 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006657836095497[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006026408203657 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006026408203657[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007763132961566 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007763132961566[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008508811291989 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008508811291989[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007131082665256 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007131082665256[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195197120487 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006195197120487[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007745507604072 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007745507604072[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006558779588195 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006558779588195[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007931947934799 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007931947934799[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006633709211581 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006633709211581[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791316790776 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791316790776[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007424710177384 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007424710177384[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006319871741113 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006319871741113[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007688070063795 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007688070063795[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006458064751541 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006458064751541[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007809013787259 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007809013787259[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006518338667549 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006518338667549[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007256603618386 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007256603618386[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006025953511148 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006025953511148[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005719706314517 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005719706314517[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007521796787575 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007521796787575[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008627059513649 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008627059513649[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007121188706141 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007121188706141[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008230929998177 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008230929998177[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922817282848 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922817282848[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008325216713 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007008325216713[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008308093225732 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008308093225732[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009657500523275 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009657500523275[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007776272901208 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007776272901208[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008599831931184 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008599831931184[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006955908864952 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006955908864952[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008301024110799 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008301024110799[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712567644078 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006712567644078[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007797199918672 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007797199918672[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008482889014731 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008482889014731[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008516564856616 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008516564856616[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006806630295962 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006806630295962[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398394747989 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398394747989[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209630045182 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209630045182[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006545027153871 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006545027153871[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008067733802025 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008067733802025[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008940233561263 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008940233561263[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009376833024251 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009376833024251[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009537003551899 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009537003551899[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009925983334876 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009925983334876[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007694580704323 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007694580704323[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008299069350963 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008299069350963[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008662017609346 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008662017609346[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008871751091161 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008871751091161[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634839417331 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634839417331[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005955840170519 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005955840170519[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007416302093638 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007416302093638[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008316736234602 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008316736234602[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008824945568200 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008824945568200[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010140452920304 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010140452920304[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007823209064180 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007823209064180[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008342372173263 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008342372173263[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008644505271298 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008644505271298[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006101163352220 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006101163352220[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007299691261839 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007299691261839[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009714606613921 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009714606613921[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009554361643746 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009554361643746[0m ×2 + 23.06sWARNcontroller_managerOverrun might occur, Total time : 1738.685 us (Expected < 1666.667 us) --> Read time : 316.146 us, Update time : 928.309 us, Write time : 494.230 us + 23.06sWARNros2_control_nodeOverrun might occur, Total time : 1738.685 us (Expected < 1666.667 us) --> Read time : 316.146 us, Update time : 928.309 us, Write time : 494.230 us[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007320985194406 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007320985194406[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554176069683 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554176069683[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006967406836273 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006967406836273[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007874208868945 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007874208868945[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008415792658232 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008415792658232[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010809541483683 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010809541483683[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008153165454306 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008153165454306[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008415871457347 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008415871457347[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008557058497830 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008557058497830[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008618062116056 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008618062116056[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008629178971592 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008629178971592[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876327708639 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005876327708639[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008248663866652 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008248663866652[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008475738977822 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008475738977822[0m ×2 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438318 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438318 ms (missed cycles : 2).[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008583447146253 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008583447146253[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008615312632585 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008615312632585[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008602039832456 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008602039832456[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009877697138757 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009877697138757[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009350352873026 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009350352873026[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008961418204470 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008961418204470[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008685582411524 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008685582411524[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127827953832 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127827953832[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015416482484 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015416482484[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010906021553774 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010906021553774[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010242957906617 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010242957906617[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009670831263759 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009670831263759[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010929465309676 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010929465309676[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009980742535158 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009980742535158[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009284106247245 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009284106247245[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008793895301242 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008793895301242[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008464556537992 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008464556537992[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008252915101214 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008252915101214[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008125095081071 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008125095081071[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008053438821796 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008053438821796[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008017387805582 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008017387805582[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010313793696240 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010313793696240[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009782562213091 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009782562213091[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009646297686508 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009646297686508[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009650823438020 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009650823438020[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010317200814024 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010317200814024[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009519364521813 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009519364521813[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008928311066355 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008928311066355[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008508018954985 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008508018954985[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009010657015925 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009010657015925[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009350311274858 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009350311274858[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012430145077574 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012430145077574[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013087765169216 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013087765169216[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011119430200955 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011119430200955[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009725258092702 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009725258092702[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008781842623948 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008781842623948[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011679041715724 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011679041715724[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011782390280243 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011782390280243[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010025034577455 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010025034577455[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009077896046454 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009077896046454[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011879279658067 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011879279658067[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010106489776167 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010106489776167[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011300902122399 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011300902122399[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009643371495603 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009643371495603[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008556414802679 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008556414802679[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011328932075989 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011328932075989[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011676435200015 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011676435200015[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009827626416162 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009827626416162[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008614268905199 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008614268905199[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011285748981141 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011285748981141[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009534124815469 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009534124815469[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008648399019466 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008648399019466[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011424196266407 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011424196266407[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009723958900518 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009723958900518[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011964732881987 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011964732881987[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013129542633348 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013129542633348[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010644733247574 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010644733247574[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012351343351242 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012351343351242[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010003907580446 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010003907580446[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011832195574063 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011832195574063[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009126287376954 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009126287376954[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011385298784787 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011385298784787[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012768103197224 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012768103197224[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010228076454311 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010228076454311[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012336257553417 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012336257553417[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006912238759194 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006912238759194[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009011277912742 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009011277912742[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011439202141678 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011439202141678[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009287660786845 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009287660786845[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011543970826716 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011543970826716[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012873136970906 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012873136970906[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014945882772259 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014945882772259[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014829994543642 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014829994543642[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011310651669045 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011310651669045[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012221251270978 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012221251270978[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012750417302543 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012750417302543[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013350232088480 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013350232088480[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010177061199826 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010177061199826[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011359887354887 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011359887354887[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012462418948406 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012462418948406[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012786220246665 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012786220246665[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009749597658576 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009749597658576[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011016528110930 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011016528110930[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013036472876609 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013036472876609[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013070471673832 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013070471673832[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009865065499711 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009865065499711[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007557609693379 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007557609693379[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007189293784835 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007189293784835[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010874964052966 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010874964052966[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012167381885564 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012167381885564[0m ×2 + 24.10sWARNcontroller_managerOverrun might occur, Total time : 3397.720 us (Expected < 1666.667 us) --> Read time : 247.846 us, Update time : 2589.712 us, Write time : 560.162 us + 24.10sWARNros2_control_nodeOverrun might occur, Total time : 3397.720 us (Expected < 1666.667 us) --> Read time : 247.846 us, Update time : 2589.712 us, Write time : 560.162 us[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018595510790508 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018595510790508[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007585386838304 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007585386838304[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009820852885309 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009820852885309[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016908195793191 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016908195793191[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015509127871748 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015509127871748[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014376317858871 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014376317858871[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013501593110852 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013501593110852[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014546842838476 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014546842838476[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013489278056033 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013489278056033[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012740840050923 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012740840050923[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012232174640469 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012232174640469[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013266556379313 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013266556379313[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012529878028154 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012529878028154[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012040825016505 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012040825016505[0m ×2 + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.380869 ms (missed cycles : 7). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.380869 ms (missed cycles : 7).[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013938727017854 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013938727017854[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368233948674 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368233948674[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013346540869187 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013346540869187[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018877340066100 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018877340066100[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016569043996638 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016569043996638[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020009486594401 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020009486594401[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016866581313138 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016866581313138[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014593092895502 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014593092895502[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013020121325396 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013020121325396[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014859469169845 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014859469169845[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013100790288237 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013100790288237[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011951822144950 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011951822144950[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012339335999310 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012339335999310[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017018702274211 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017018702274211[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014565268916691 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014565268916691[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016362395545766 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016362395545766[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013957138541148 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013957138541148[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012343100231749 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012343100231749[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016474289306617 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016474289306617[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016755250171246 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016755250171246[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014009015119359 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014009015119359[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012507232555475 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012507232555475[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016571460123713 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016571460123713[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013934506585941 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013934506585941[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017188704621976 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017188704621976[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014082398283158 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014082398283158[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017010962055258 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017010962055258[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013778176685619 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013778176685619[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016611733037077 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016611733037077[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013398841567744 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013398841567744[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016223432272654 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016223432272654[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016714704273854 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016714704273854[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012617249836595 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012617249836595[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015826815512857 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015826815512857[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012467779771093 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012467779771093[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018081846295730 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018081846295730[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019152665098087 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019152665098087[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014834064440526 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014834064440526[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016681300040859 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016681300040859[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017730570119553 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017730570119553[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018199921974688 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018199921974688[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013881000214899 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013881000214899[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015732617460701 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015732617460701[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016852403879704 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016852403879704[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017705130449977 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017705130449977[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013410896942892 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013410896942892[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007798338409428 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007798338409428[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012617977046042 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012617977046042[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023871630592636 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023871630592636[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022253516313588 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022253516313588[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020743890399166 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020743890399166[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022254895982781 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022254895982781[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015987320763313 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015987320763313[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016239079405201 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016239079405201[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018631893569842 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018631893569842[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021357904632075 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021357904632075[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019634574269087 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019634574269087[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018279314860652 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018279314860652[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017253014080768 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017253014080768[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016499727716795 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016499727716795[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015958654283212 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015958654283212[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017518437368949 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017518437368949[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018425517101128 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018425517101128[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024809074241277 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024809074241277[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021002967798672 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021002967798672[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018266554582665 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018266554582665[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016383091744522 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016383091744522[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013264357927457 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013264357927457[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021146854780258 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021146854780258[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025725367244264 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025725367244264[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021102730681744 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021102730681744[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025491622662490 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025491622662490[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020463097163113 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020463097163113[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017023314640139 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017023314640139[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021524862164025 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021524862164025[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017468983339981 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017468983339981[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014828473068199 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014828473068199[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019774820578850 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019774820578850[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022728596153495 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022728596153495[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017873897288816 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017873897288816[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021057117799922 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021057117799922[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016581535510396 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016581535510396[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020560965064167 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020560965064167[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016116260602780 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016116260602780[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019468494769277 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019468494769277[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021447804277201 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021447804277201[0m ×2 + 25.10sWARNcontroller_managerOverrun might occur, Total time : 4828.047 us (Expected < 1666.667 us) --> Read time : 227.464 us, Update time : 3893.419 us, Write time : 707.164 us + 25.11sWARNros2_control_nodeOverrun might occur, Total time : 4828.047 us (Expected < 1666.667 us) --> Read time : 227.464 us, Update time : 3893.419 us, Write time : 707.164 us[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022056176513611 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022056176513611[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022008198179570 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022008198179570[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023255190573058 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023255190573058[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023587720344830 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023587720344830[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023365612868114 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023365612868114[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022841365601289 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022841365601289[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022820871423681 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022820871423681[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016620345911439 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016620345911439[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018189866409799 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018189866409799[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019103390464033 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019103390464033[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022599483900111 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022599483900111[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021783520323816 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021783520323816[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020934398914032 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020934398914032[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024194736065311 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024194736065311[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022069030039542 + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858245 ms (missed cycles : 3). + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022069030039542[0m ×2 + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858245 ms (missed cycles : 3).[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020429418691774 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020429418691774[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021008225531150 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021008225531150[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019692823121639 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019692823121639[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025311513667212 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025311513667212[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021980652210142 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021980652210142[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020449371832125 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020449371832125[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027076448211916 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027076448211916[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022393469973917 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022393469973917[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019107700444614 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019107700444614[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021863123074256 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021863123074256[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018534930228995 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018534930228995[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016337414427853 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016337414427853[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022654798832250 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022654798832250[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018708640924465 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018708640924465[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023452471052717 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023452471052717[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018896776849568 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018896776849568[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023138947782255 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023138947782255[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018318274771073 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018318274771073[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020732822894681 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020732822894681[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016610286057863 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016610286057863[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020833340609998 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020833340609998[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023185771889296 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023185771889296[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023551938579291 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023551938579291[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024669699181356 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024669699181356[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031833474695048 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031833474695048[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022932790234480 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022932790234480[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021085252609112 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021085252609112[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032256859465678 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032256859465678[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027471325767574 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027471325767574[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030739545564725 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030739545564725[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020865194450251 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020865194450251[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019326057687313 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019326057687313[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018112173482300 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018112173482300[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023700972014954 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023700972014954[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020427784548971 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020427784548971[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018087546636182 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018087546636182[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024567839130288 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024567839130288[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020028840336269 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020028840336269[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022650387094724 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022650387094724[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018416085261978 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018416085261978[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025703468510240 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025703468510240[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027257709264895 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027257709264895[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027147375248783 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027147375248783[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026060586793565 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026060586793565[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024486716084860 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024486716084860[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022732994937810 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022732994937810[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021002694683777 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021002694683777[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024233890196187 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024233890196187[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021230659784289 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021230659784289[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027514256521630 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027514256521630[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014967357197794 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014967357197794[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015580358550221 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015580358550221[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007506441866333 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007506441866333[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016637309912706 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016637309912706[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020902986278193 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020902986278193[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023720795020410 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023720795020410[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024182859878623 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024182859878623[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033698010693088 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033698010693088[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035330651306376 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035330651306376[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027854865091072 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027854865091072[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007127088659889 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007127088659889[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011633885201257 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011633885201257[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011817083744221 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011817083744221[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011632445315843 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011632445315843[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006910186720130 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006910186720130[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010402040457912 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010402040457912[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015629965090276 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015629965090276[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013070068167398 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013070068167398[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011030171554542 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011030171554542[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009509838242363 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009509838242363[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008421440300394 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008421440300394[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007635410244756 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007635410244756[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276837084413 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276837084413[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748216090654 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003748216090654[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405391857849 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405391857849[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528335882979 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528335882979[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006273855844406 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006273855844406[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641056276779 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641056276779[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009804606153076 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009804606153076[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008411960074901 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008411960074901[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008882016016875 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008882016016875[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846171133945 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846171133945[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007677887136601 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007677887136601[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004998978461436 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004998978461436[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826994589174 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005826994589174[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466281610475 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466281610475[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005024354475208 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005024354475208[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007375455153202 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007375455153202[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007482355955213 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007482355955213[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008365842543638 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008365842543638[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007083905236590 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007083905236590[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006118052339432 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006118052339432[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418813947667 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418813947667[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006658845650038 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006658845650038[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005657033970904 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005657033970904[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966895508574 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966895508574[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006126389539851 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006126389539851[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283611576776 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283611576776[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005296420879196 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005296420879196[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005771949543658 + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967615 ms (missed cycles : 2). + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005771949543658[0m ×2 + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967615 ms (missed cycles : 2).[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405265229479 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003405265229479[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740411449246 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740411449246[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004194743618344 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004194743618344[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005271988369007 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005271988369007[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113246609208 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113246609208[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003581042744886 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003581042744886[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832438442277 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003832438442277[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936161748675 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936161748675[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132006711639 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132006711639[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182891691108 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004182891691108[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005103513002799 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005103513002799[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005845849032190 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005845849032190[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137351825048 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137351825048[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006540107759021 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006540107759021[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006759491281995 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006759491281995[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227585218872 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227585218872[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590898763257 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590898763257[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878970149787 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878970149787[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820316376810 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820316376810[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108744727923 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108744727923[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720356031301 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720356031301[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709280824194 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709280824194[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908890545576 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001908890545576[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327750618746 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327750618746[0m ×2 + 26.50sWARNcontroller_managerOverrun might occur, Total time : 6657.804 us (Expected < 1666.667 us) --> Read time : 210.074 us, Update time : 465.340 us, Write time : 5982.390 us + 26.51sWARNros2_control_nodeOverrun might occur, Total time : 6657.804 us (Expected < 1666.667 us) --> Read time : 210.074 us, Update time : 465.340 us, Write time : 5982.390 us[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191768047706 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191768047706[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003098501078968 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003098501078968[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002832634999534 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002832634999534[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006561303851613 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006561303851613[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007671997035397 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007671997035397[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007777680752221 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007777680752221[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007459690633748 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007459690633748[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007912186803151 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007912186803151[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006014134038116 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006014134038116[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005802831854916 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005802831854916[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881534100656 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881534100656[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519075676692 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519075676692[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113157839859 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113157839859[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393043122423 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393043122423[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001287890118230 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001287890118230[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725745458740 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725745458740[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001512898103245 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001512898103245[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533344321099 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533344321099[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709550122131 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709550122131[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682176572231 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682176572231[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008573393586264 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008573393586264[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301652182518 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005301652182518[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005677993864938 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005677993864938[0m ×2 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738196112863 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738196112863[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972763342090 + 26.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972763342090[0m ×2 + 26.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000853597318559 ×2 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000853597318559[0m ×4 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000972412345392 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000972412345392[0m ×2 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000377182784040 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000377182784040[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999284947853 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999284947853[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007107948994356 + 26.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007107948994356[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007572621472155 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007572621472155[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007140579187161 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007140579187161[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005926257330497 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005926257330497[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847755841290 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847755841290[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001931827779252 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001931827779252[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001067137239243 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001067137239243[0m ×2 + 26.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000965667434376 + 26.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000965667434376[0m ×2 + 26.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000408636491179 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000408636491179[0m ×2 + 26.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001256067787307 + 26.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001256067787307[0m ×2 + 26.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483319171270 + 26.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000483319171270[0m ×2 + 26.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002029723608065 + 26.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002029723608065[0m ×2 + 26.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002436420071487 + 26.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002436420071487[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643194482776 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643194482776[0m ×2 + 26.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000616585091164 + 26.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000616585091164[0m ×2 + 26.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001117772670689 + 26.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001117772670689[0m ×2 + 26.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000338097426145 + 26.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000338097426145[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000428942348768 + 26.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000428942348768[0m ×2 + 27.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065961195314 + 27.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065961195314[0m ×2 + 27.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000890040689248 + 27.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000890040689248[0m ×2 + 27.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119288716623 + 27.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119288716623[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000542692747411 + 27.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000542692747411[0m ×2 + 27.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149045009050 + 27.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149045009050[0m ×2 + 27.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000187165328931 + 27.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000187165328931[0m ×2 + 27.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144702972652 + 27.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144702972652[0m ×2 + 27.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167852969060 + 27.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000167852969060[0m ×2 + 27.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087486063650 + 27.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087486063650[0m ×2 + 27.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035562289762 + 27.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035562289762[0m ×2 + 27.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004438058840 + 27.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004438058840[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109424930879 + 27.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109424930879[0m ×2 + 27.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288707267271 + 27.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288707267271[0m ×2 + 27.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000477396051331 + 27.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000477396051331[0m ×2 + 27.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000297540562056 + 27.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000297540562056[0m ×2 + 27.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240488738066 + 27.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240488738066[0m ×2 + 27.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089885878796 + 27.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089885878796[0m ×2 + 27.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286968154583 + 27.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286968154583[0m ×2 + 27.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126499897099 ×2 + 27.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126499897099[0m ×4 + 27.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043879975445 + 27.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043879975445[0m ×2 + 27.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251248844718 + 27.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251248844718[0m ×2 + 27.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000228474853514 + 27.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000228474853514[0m ×2 + 27.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000436401149577 + 27.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000436401149577[0m ×2 + 27.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000370305293142 + 27.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000370305293142[0m ×2 + 27.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352644251399 + 27.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352644251399[0m ×2 + 27.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202151136641 + 27.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202151136641[0m ×2 + 27.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241699127841 + 27.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241699127841[0m ×2 + 27.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000382257974051 + 27.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000382257974051[0m ×2 + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236657 ms (missed cycles : 2). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236657 ms (missed cycles : 2).[0m ×2 + 27.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000339357884975 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000339357884975[0m ×2 + 27.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000200052582892 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000200052582892[0m ×2 + 27.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223301998195 + 27.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223301998195[0m ×2 + 27.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232601517365 + 27.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232601517365[0m ×2 + 27.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000236859294199 + 27.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000236859294199[0m ×2 + 27.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000234434444549 + 27.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000234434444549[0m ×2 + 27.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000345625166309 + 27.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000345625166309[0m ×2 + 27.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000291794190709 + 27.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000291794190709[0m ×2 + 27.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000252933785583 + 27.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000252933785583[0m ×2 + 27.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225113171794 + 27.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000225113171794[0m ×2 + 27.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138390861701 + 27.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138390861701[0m ×2 + 27.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155478280950 + 27.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155478280950[0m ×2 + 27.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163588355744 + 27.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163588355744[0m ×2 + 27.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000165731361880 + 27.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000165731361880[0m ×2 + 27.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242685032277 + 27.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000242685032277[0m ×2 + 27.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206555010549 + 27.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206555010549[0m ×2 + 27.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179569681428 + 27.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179569681428[0m ×2 + 27.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159542940756 + 27.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159542940756[0m ×2 + 27.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144824245878 + 27.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144824245878[0m ×2 + 27.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204461313638 + 27.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204461313638[0m ×2 + 27.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167260700550 + 27.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167260700550[0m ×2 + 27.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000141398447659 + 27.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000141398447659[0m ×2 + 27.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061857945052 + 27.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061857945052[0m ×2 + 27.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080585300896 + 27.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080585300896[0m ×2 + 27.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089679564089 + 27.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089679564089[0m ×2 + 27.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133543052172 + 27.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133543052172[0m ×2 + 27.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116592818786 + 27.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116592818786[0m ×2 + 27.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102818682493 + 27.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102818682493[0m ×2 + 27.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091821588121 + 27.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091821588121[0m ×2 + 27.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083181297124 + 27.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083181297124[0m ×2 + 27.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076341919277 + 27.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076341919277[0m ×2 + 27.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070848189714 + 27.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070848189714[0m ×2 + 27.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066300141310 + 27.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066300141310[0m ×2 + 27.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062409693099 + 27.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062409693099[0m ×2 + 27.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088486987683 + 27.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088486987683[0m ×2 + 27.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073557639334 + 27.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073557639334[0m ×2 + 27.64sWARNcontroller_managerOverrun might occur, Total time : 2131.183 us (Expected < 1666.667 us) --> Read time : 162.803 us, Update time : 890.278 us, Write time : 1078.102 us + 27.64sWARNros2_control_nodeOverrun might occur, Total time : 2131.183 us (Expected < 1666.667 us) --> Read time : 162.803 us, Update time : 890.278 us, Write time : 1078.102 us[0m ×2 + 27.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062802475419 + 27.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062802475419[0m ×2 + 27.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028311745090 + 27.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028311745090[0m ×2 + 27.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035796789981 + 27.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035796789981[0m ×2 + 27.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039401501695 + 27.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039401501695[0m ×2 + 27.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040296358967 + 27.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040296358967[0m ×2 + 27.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039645867660 + 27.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039645867660[0m ×2 + 27.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055881115024 + 27.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055881115024[0m ×2 + 27.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032039210628 + 27.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032039210628[0m ×2 + 27.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022475945579 + 27.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022475945579[0m ×2 + 27.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025492397579 + 27.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025492397579[0m ×2 + 27.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026696765886 + 27.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026696765886[0m ×2 + 27.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026719529592 + 27.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026719529592[0m ×2 + 27.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038042073280 + 27.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038042073280[0m ×2 + 27.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032387406137 + 27.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032387406137[0m ×2 + 27.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027993082379 + 27.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027993082379[0m ×2 + 27.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024674809233 + 27.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024674809233[0m ×2 + 27.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033649594364 + 27.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033649594364[0m ×2 + 27.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027253589738 + 27.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027253589738[0m ×2 + 27.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015144541460 + 27.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015144541460[0m ×2 + 27.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022805333498 + 27.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022805333498[0m ×2 + 27.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019570326940 + 27.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019570326940[0m ×2 + 27.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017209468096 + 27.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017209468096[0m ×2 + 27.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015504127316 + 27.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015504127316[0m ×2 + 27.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014218065252 + 27.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014218065252[0m ×2 + 27.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013212838846 + 27.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013212838846[0m ×2 + 27.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018578419510 + 27.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018578419510[0m ×2 + 27.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015365395864 + 27.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015365395864[0m ×2 + 27.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013057037387 + 27.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013057037387[0m ×2 + 27.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017540408686 + 27.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017540408686[0m ×2 + 27.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013938037508 + 27.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013938037508[0m ×2 + 27.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007615643368 + 27.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007615643368[0m ×2 + 27.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007644449433 + 27.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007644449433[0m ×2 + 27.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007555825672 + 27.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007555825672[0m ×2 + 27.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007351346957 + 27.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007351346957[0m ×2 + 27.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007076201224 + 27.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007076201224[0m ×2 + 27.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006746996295 + 27.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006746996295[0m ×2 + 27.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009482932251 + 27.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009482932251[0m ×2 + 27.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007904228580 + 27.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007904228580[0m ×2 + 27.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006740906646 + 27.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006740906646[0m ×2 + 28.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005895272509 + 28.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005895272509[0m ×2 + 28.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005268792062 + 28.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005268792062[0m ×2 + 28.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003356641911 + 28.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003356641911[0m ×2 + 28.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005261143792 + 28.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005261143792[0m ×2 + 28.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004688073504 + 28.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004688073504[0m ×2 + 28.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004218956889 + 28.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004218956889[0m ×2 + 28.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003847967321 + 28.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003847967321[0m ×2 + 28.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005309977736 + 28.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005309977736[0m ×2 + 28.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002921412844 + 28.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002921412844[0m ×2 + 28.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002829296963 + 28.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002829296963[0m ×2 + 28.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002729814172 + 28.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002729814172[0m ×2 + 28.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003872446942 + 28.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003872446942[0m ×2 + 28.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002203628920 + 28.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002203628920[0m ×2 + 28.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002172640593 + 28.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002172640593[0m ×2 + 28.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002121946473 + 28.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002121946473[0m ×2 + 28.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003012128418 + 28.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003012128418[0m ×2 + 28.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002533585800 + 28.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002533585800[0m ×2 + 28.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002179068306 + 28.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002179068306[0m ×2 + 28.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001916940402 + 28.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001916940402[0m ×2 + 28.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001720148667 + 28.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001720148667[0m ×2 + 28.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002374324960 + 28.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002374324960[0m ×2 + 28.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001936906513 + 28.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001936906513[0m ×2 + 28.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001628142221 + 28.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001628142221[0m ×2 + 28.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002176557615 + 28.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002176557615[0m ×2 + 28.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001720375511 + 28.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001720375511[0m ×2 + 28.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001405983721 + 28.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001405983721[0m ×2 + 28.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001198136489 + 28.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001198136489[0m ×2 + 28.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001630342577 + 28.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001630342577[0m ×2 + 28.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001294813539 + 28.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001294813539[0m ×2 + 28.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001069063027 + 28.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001069063027[0m ×2 + 28.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000919342653 + 28.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000919342653[0m ×2 + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816132 ms (missed cycles : 3). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816132 ms (missed cycles : 3).[0m ×2 + 28.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000566401678 + 28.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000566401678[0m ×2 + 28.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000613936867 + 28.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000613936867[0m ×2 + 28.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000629265075 + 28.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000629265075[0m ×2 + 28.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000456296647 + 28.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000456296647[0m ×2 + 28.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000390593292 + 28.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000390593292[0m ×2 + 28.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000462119041 + 28.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000462119041[0m ×2 + 28.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000489664852 + 28.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000489664852[0m ×2 + 28.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000486297039 + 28.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000486297039[0m ×2 + 28.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000466138072 + 28.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000466138072[0m ×2 + 28.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000647482840 + 28.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000647482840[0m ×2 + 28.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000543133097 + 28.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000543133097[0m ×2 + 28.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000464454422 + 28.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000464454422[0m ×2 + 28.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000402096645 + 28.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000402096645[0m ×2 + 28.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000544885223 + 28.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000544885223[0m ×2 + 28.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000439100371 + 28.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000439100371[0m ×2 + 28.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000366444321 + 28.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000366444321[0m ×2 + 28.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000485641218 + 28.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000485641218[0m ×2 + 28.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000377871372 + 28.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000377871372[0m ×2 + 28.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000202182139 + 28.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000202182139[0m ×2 + 28.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000147419072 + 28.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000147419072[0m ×2 + 28.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000174370276 + 28.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000174370276[0m ×2 + 28.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184790455 + 28.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184790455[0m ×2 + 28.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000186775137 + 28.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000186775137[0m ×2 + 28.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000266928565 + 28.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000266928565[0m ×2 + 28.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000225440048 + 28.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000225440048[0m ×2 + 28.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000196946171 + 28.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000196946171[0m ×2 + 28.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000260208856 + 28.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000260208856[0m ×2 + 28.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000207369313 + 28.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000207369313[0m ×2 + 28.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000170382547 + 28.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000170382547[0m ×2 + 28.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144828438 + 28.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144828438[0m ×2 + 28.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000805692638 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000805692638[0m ×2 + 28.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135312374 + 28.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135312374[0m ×2 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121673504 + 28.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121673504[0m ×2 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000773289137 + 28.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000773289137[0m ×2 + 28.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000715892770 + 28.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000715892770[0m ×2 + 28.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133367440 + 28.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133367440[0m ×2 + 28.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000738636780 + 28.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000738636780[0m ×2 + 28.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000664829288 + 28.63sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000664829288[0m ×2 + 28.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000606580377 + 28.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000606580377[0m ×2 + 28.65sWARNcontroller_managerOverrun might occur, Total time : 2146.903 us (Expected < 1666.667 us) --> Read time : 395.898 us, Update time : 1226.915 us, Write time : 524.090 us + 28.66sWARNros2_control_nodeOverrun might occur, Total time : 2146.903 us (Expected < 1666.667 us) --> Read time : 395.898 us, Update time : 1226.915 us, Write time : 524.090 us[0m ×2 + 28.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000563183008 + 28.66sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000563183008[0m ×2 + 28.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000512161238 + 28.67sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000512161238[0m ×2 + 28.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000479002774 + 28.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000479002774[0m ×2 + 28.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000437008832 + 28.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000437008832[0m ×2 + 28.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000404166977 + 28.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000404166977[0m ×2 + 28.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000378993325 + 28.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000378993325[0m ×2 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000342241983 + 28.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000342241983[0m ×2 + 28.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000327908659 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000327908659[0m ×2 + 28.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000301103706 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000301103706[0m ×2 + 28.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000283755515 + 28.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000283755515[0m ×2 + 28.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000261529619 + 28.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000261529619[0m ×2 + 28.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000297252992 + 28.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000297252992[0m ×2 + 28.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000218923810 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000218923810[0m ×2 + 28.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000258261239 + 28.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000258261239[0m ×2 + 28.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000192405970 + 28.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000192405970[0m ×2 + 28.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000182318077 + 28.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000182318077[0m ×2 + 28.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000175495727 + 28.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000175495727[0m ×2 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000160680986 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000160680986[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000179020320 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000179020320[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000169091067 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000169091067[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155988324 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155988324[0m ×2 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000142114459 + 28.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000142114459[0m ×2 + 28.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000134151075 + 28.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000134151075[0m ×2 + 28.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155828879 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155828879[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000136130784 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000136130784[0m ×2 + 28.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121876003 + 28.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121876003[0m ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923038 ms (missed cycles : 2). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923038 ms (missed cycles : 2).[0m ×2 + 29.67sWARNcontroller_managerOverrun might occur, Total time : 10127.605 us (Expected < 1666.667 us) --> Read time : 335.467 us, Update time : 9205.506 us, Write time : 586.632 us + 29.68sWARNros2_control_nodeOverrun might occur, Total time : 10127.605 us (Expected < 1666.667 us) --> Read time : 335.467 us, Update time : 9205.506 us, Write time : 586.632 us[0m ×2 + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713035 ms (missed cycles : 3). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713035 ms (missed cycles : 3).[0m ×2 + 30.79sWARNcontroller_managerOverrun might occur, Total time : 10506.802 us (Expected < 1666.667 us) --> Read time : 268.355 us, Update time : 110.243 us, Write time : 10128.204 us + 30.79sWARNros2_control_nodeOverrun might occur, Total time : 10506.802 us (Expected < 1666.667 us) --> Read time : 268.355 us, Update time : 110.243 us, Write time : 10128.204 us[0m ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.004582 ms (missed cycles : 9). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.004582 ms (missed cycles : 9).[0m ×2 + 31.81sWARNcontroller_managerOverrun might occur, Total time : 1899.858 us (Expected < 1666.667 us) --> Read time : 1086.412 us, Update time : 325.746 us, Write time : 487.700 us + 31.81sWARNros2_control_nodeOverrun might occur, Total time : 1899.858 us (Expected < 1666.667 us) --> Read time : 1086.412 us, Update time : 325.746 us, Write time : 487.700 us[0m ×2 + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513341 ms (missed cycles : 3). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513341 ms (missed cycles : 3).[0m ×2 + 33.52sWARNcontroller_managerOverrun might occur, Total time : 1691.104 us (Expected < 1666.667 us) --> Read time : 328.757 us, Update time : 114.422 us, Write time : 1247.925 us + 33.52sWARNros2_control_nodeOverrun might occur, Total time : 1691.104 us (Expected < 1666.667 us) --> Read time : 328.757 us, Update time : 114.422 us, Write time : 1247.925 us[0m ×2 + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960591 ms (missed cycles : 3). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960591 ms (missed cycles : 3).[0m ×2 + 33.74sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.51% of iterations over budget over 4:10.009 of wall time (1160/76595). Consistently above 1% means the model timestep should be raised.[0m ×2 + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 34.90sWARNcontroller_managerOverrun might occur, Total time : 2137.943 us (Expected < 1666.667 us) --> Read time : 191.704 us, Update time : 89.312 us, Write time : 1856.927 us + 34.90sWARNros2_control_nodeOverrun might occur, Total time : 2137.943 us (Expected < 1666.667 us) --> Read time : 191.704 us, Update time : 89.312 us, Write time : 1856.927 us[0m ×2 + 35.03sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780607242.20071006 seconds ×3 + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702503 ms (missed cycles : 6). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702503 ms (missed cycles : 6).[0m ×2 + 35.68sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780607242.85306525 seconds. ×3 + 35.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 35.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 36.05sWARNcontroller_managerOverrun might occur, Total time : 2149.183 us (Expected < 1666.667 us) --> Read time : 307.046 us, Update time : 819.367 us, Write time : 1022.770 us + 36.05sWARNros2_control_nodeOverrun might occur, Total time : 2149.183 us (Expected < 1666.667 us) --> Read time : 307.046 us, Update time : 819.367 us, Write time : 1022.770 us[0m ×2 + 36.06sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 36.06sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348837 ms (missed cycles : 4). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348837 ms (missed cycles : 4).[0m ×2 + 36.81sINFOobjective_server_nodeFound path in 6 iterations (0.00651755 s). ×2 + 36.86sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 36.88sINFOros2_control_node[2026-06-04 21:07:24.049] [info] Received new action goal ×2 + 36.88sINFOros2_control_node[2026-06-04 21:07:24.049] [info] Accepted new action goal ×2 + 37.72sWARNcontroller_managerOverrun might occur, Total time : 8441.010 us (Expected < 1666.667 us) --> Read time : 225.324 us, Update time : 7613.734 us, Write time : 601.952 us + 37.73sWARNros2_control_nodeOverrun might occur, Total time : 8441.010 us (Expected < 1666.667 us) --> Read time : 225.324 us, Update time : 7613.734 us, Write time : 601.952 us[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318121 ms (missed cycles : 4). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318121 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 27.0s | 3 errors · 186 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3).[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us + 0.85sWARNros2_control_nodeOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5).[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.41sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Accepted new action goal ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7).[0m ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607010.24073005 seconds ×3 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607010.82345629 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607010.94360495 seconds ×3 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607011.58881593 seconds. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6).[0m ×2 + 6.32sWARNcontroller_managerOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us + 6.32sWARNros2_control_nodeOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965118 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965118 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun might occur, Total time : 2563.812 us (Expected < 1666.667 us) --> Read time : 179.353 us, Update time : 100.402 us, Write time : 2284.057 us + 7.40sWARNros2_control_nodeOverrun might occur, Total time : 2563.812 us (Expected < 1666.667 us) --> Read time : 179.353 us, Update time : 100.402 us, Write time : 2284.057 us[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311543 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311543 ms (missed cycles : 4).[0m ×2 + 8.77sWARNcontroller_managerOverrun might occur, Total time : 6202.236 us (Expected < 1666.667 us) --> Read time : 2518.371 us, Update time : 3128.704 us, Write time : 555.161 us + 8.77sWARNros2_control_nodeOverrun might occur, Total time : 6202.236 us (Expected < 1666.667 us) --> Read time : 2518.371 us, Update time : 3128.704 us, Write time : 555.161 us[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545134 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545134 ms (missed cycles : 3).[0m ×2 + 9.98sWARNcontroller_managerOverrun might occur, Total time : 5029.781 us (Expected < 1666.667 us) --> Read time : 211.414 us, Update time : 4242.206 us, Write time : 576.161 us + 9.98sWARNros2_control_nodeOverrun might occur, Total time : 5029.781 us (Expected < 1666.667 us) --> Read time : 211.414 us, Update time : 4242.206 us, Write time : 576.161 us[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478107 ms (missed cycles : 7). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478107 ms (missed cycles : 7).[0m ×2 + 11.16sWARNcontroller_managerOverrun might occur, Total time : 2086.272 us (Expected < 1666.667 us) --> Read time : 1239.855 us, Update time : 81.671 us, Write time : 764.746 us + 11.16sWARNros2_control_nodeOverrun might occur, Total time : 2086.272 us (Expected < 1666.667 us) --> Read time : 1239.855 us, Update time : 81.671 us, Write time : 764.746 us[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513213 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513213 ms (missed cycles : 3).[0m ×2 + 12.21sWARNcontroller_managerOverrun might occur, Total time : 1943.080 us (Expected < 1666.667 us) --> Read time : 803.227 us, Update time : 84.581 us, Write time : 1055.272 us + 12.21sWARNros2_control_nodeOverrun might occur, Total time : 1943.080 us (Expected < 1666.667 us) --> Read time : 803.227 us, Update time : 84.581 us, Write time : 1055.272 us[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961883 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961883 ms (missed cycles : 2).[0m ×2 + 13.27sWARNcontroller_managerOverrun might occur, Total time : 2834.477 us (Expected < 1666.667 us) --> Read time : 409.748 us, Update time : 237.725 us, Write time : 2187.004 us + 13.27sWARNros2_control_nodeOverrun might occur, Total time : 2834.477 us (Expected < 1666.667 us) --> Read time : 409.748 us, Update time : 237.725 us, Write time : 2187.004 us[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.930845 ms (missed cycles : 5). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.930845 ms (missed cycles : 5).[0m ×2 + 14.28sWARNcontroller_managerOverrun might occur, Total time : 6298.546 us (Expected < 1666.667 us) --> Read time : 222.134 us, Update time : 1332.977 us, Write time : 4743.435 us + 14.28sWARNros2_control_nodeOverrun might occur, Total time : 6298.546 us (Expected < 1666.667 us) --> Read time : 222.134 us, Update time : 1332.977 us, Write time : 4743.435 us[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237064 ms (missed cycles : 4). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237064 ms (missed cycles : 4).[0m ×2 + 15.29sWARNcontroller_managerOverrun might occur, Total time : 2742.905 us (Expected < 1666.667 us) --> Read time : 1242.065 us, Update time : 105.932 us, Write time : 1394.908 us + 15.29sWARNros2_control_nodeOverrun might occur, Total time : 2742.905 us (Expected < 1666.667 us) --> Read time : 1242.065 us, Update time : 105.932 us, Write time : 1394.908 us[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726622 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726622 ms (missed cycles : 2).[0m ×2 + 16.47sWARNcontroller_managerOverrun might occur, Total time : 2714.395 us (Expected < 1666.667 us) --> Read time : 1206.455 us, Update time : 76.021 us, Write time : 1431.919 us + 16.47sWARNros2_control_nodeOverrun might occur, Total time : 2714.395 us (Expected < 1666.667 us) --> Read time : 1206.455 us, Update time : 76.021 us, Write time : 1431.919 us[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.639235 ms (missed cycles : 6). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.639235 ms (missed cycles : 6).[0m ×2 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582252 ms (missed cycles : 3). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582252 ms (missed cycles : 3).[0m ×2 + 18.32sWARNcontroller_managerOverrun might occur, Total time : 7964.641 us (Expected < 1666.667 us) --> Read time : 213.574 us, Update time : 72.252 us, Write time : 7678.815 us + 18.32sWARNros2_control_nodeOverrun might occur, Total time : 7964.641 us (Expected < 1666.667 us) --> Read time : 213.574 us, Update time : 72.252 us, Write time : 7678.815 us[0m ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591717 ms (missed cycles : 3). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591717 ms (missed cycles : 3).[0m ×2 + 19.43sWARNcontroller_managerOverrun might occur, Total time : 4994.741 us (Expected < 1666.667 us) --> Read time : 261.345 us, Update time : 4196.615 us, Write time : 536.781 us + 19.43sWARNros2_control_nodeOverrun might occur, Total time : 4994.741 us (Expected < 1666.667 us) --> Read time : 261.345 us, Update time : 4196.615 us, Write time : 536.781 us[0m ×2 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504576 ms (missed cycles : 3). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504576 ms (missed cycles : 3).[0m ×2 + 20.33sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures" + 20.34sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures"[0m ×2 + 20.53sWARNcontroller_managerOverrun might occur, Total time : 1857.838 us (Expected < 1666.667 us) --> Read time : 816.387 us, Update time : 63.081 us, Write time : 978.370 us + 20.53sWARNros2_control_nodeOverrun might occur, Total time : 1857.838 us (Expected < 1666.667 us) --> Read time : 816.387 us, Update time : 63.081 us, Write time : 978.370 us[0m ×2 + 20.84sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 20.84sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175065 ms (missed cycles : 3). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175065 ms (missed cycles : 3).[0m ×2 + 21.92sWARNcontroller_managerOverrun might occur, Total time : 5911.199 us (Expected < 1666.667 us) --> Read time : 5343.938 us, Update time : 77.371 us, Write time : 489.890 us + 21.92sWARNros2_control_nodeOverrun might occur, Total time : 5911.199 us (Expected < 1666.667 us) --> Read time : 5343.938 us, Update time : 77.371 us, Write time : 489.890 us[0m ×2 + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637770 ms (missed cycles : 3). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637770 ms (missed cycles : 3).[0m ×2 + 23.09sWARNcontroller_managerOverrun might occur, Total time : 3339.137 us (Expected < 1666.667 us) --> Read time : 218.164 us, Update time : 46.451 us, Write time : 3074.522 us + 23.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537470 ms (missed cycles : 3). + 23.10sWARNros2_control_nodeOverrun might occur, Total time : 3339.137 us (Expected < 1666.667 us) --> Read time : 218.164 us, Update time : 46.451 us, Write time : 3074.522 us[0m ×2 + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537470 ms (missed cycles : 3).[0m ×2 + 23.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 23.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 23.83sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 23.87sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 23.87sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m ×2 + 24.10sWARNcontroller_managerOverrun might occur, Total time : 2034.451 us (Expected < 1666.667 us) --> Read time : 199.404 us, Update time : 401.788 us, Write time : 1433.259 us + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331304 ms (missed cycles : 2). + 24.10sWARNros2_control_nodeOverrun might occur, Total time : 2034.451 us (Expected < 1666.667 us) --> Read time : 199.404 us, Update time : 401.788 us, Write time : 1433.259 us[0m ×2 + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331304 ms (missed cycles : 2).[0m ×2 + 24.11sINFOobjective_server_nodeFound path in 0 iterations (5.1e-07 s). ×2 + 24.12sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 24.13sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 24.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 24.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 24.20sINFOobjective_server_nodeFound path in 1 iterations (0.00237421 s). ×2 + 24.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 24.34sINFOros2_control_node[2026-06-04 21:03:52.360] [info] Received new action goal ×2 + 24.34sINFOros2_control_node[2026-06-04 21:03:52.360] [info] Accepted new action goal ×2 + 25.11sWARNcontroller_managerOverrun might occur, Total time : 2024.070 us (Expected < 1666.667 us) --> Read time : 159.253 us, Update time : 74.921 us, Write time : 1789.896 us + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219562 ms (missed cycles : 2). + 25.11sWARNros2_control_nodeOverrun might occur, Total time : 2024.070 us (Expected < 1666.667 us) --> Read time : 159.253 us, Update time : 74.921 us, Write time : 1789.896 us[0m ×2 + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219562 ms (missed cycles : 2).[0m ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238210 ms (missed cycles : 4). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238210 ms (missed cycles : 4).[0m ×2 + 26.31sWARNcontroller_managerOverrun might occur, Total time : 1743.415 us (Expected < 1666.667 us) --> Read time : 615.433 us, Update time : 476.789 us, Write time : 651.193 us + 26.32sWARNros2_control_nodeOverrun might occur, Total time : 1743.415 us (Expected < 1666.667 us) --> Read time : 615.433 us, Update time : 476.789 us, Write time : 651.193 us[0m ×2 + 26.87sINFOros2_control_node[2026-06-04 21:03:54.882] [info] Received new action goal ×2 + 26.87sINFOros2_control_node[2026-06-04 21:03:54.882] [info] Accepted new action goal ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664534 ms (missed cycles : 6). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664534 ms (missed cycles : 6).[0m ×2 + 27.52sWARNcontroller_managerOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us + 27.52sWARNros2_control_nodeOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us[0m ×2 + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7).[0m ×2 + 28.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.63sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Received new action goal ×2 + 28.63sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Accepted new action goal ×2 + 29.06sWARNcontroller_managerOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us + 29.06sWARNros2_control_nodeOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3).[0m ×2 + 30.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607038.03421307 seconds ×3 + 30.10sWARNcontroller_managerOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us + 30.10sWARNros2_control_nodeOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us[0m ×2 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3).[0m ×2 + 30.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607038.62548828 seconds. ×3 + 30.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607038.69563842 seconds ×3 + 30.96sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 30.96sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 31.12sWARNcontroller_managerOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us + 31.12sWARNros2_control_nodeOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us[0m ×2 + 31.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607039.31491566 seconds. ×3 + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3).[0m ×2 + 31.41sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 31.42sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 31.43sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Received new action goal ×2 + 31.43sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Accepted new action goal ×2 + 31.47sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 31.47sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2). + 32.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2).[0m ×2 + 32.34sWARNcontroller_managerOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us + 32.34sWARNros2_control_nodeOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5).[0m ×2 + 33.49sWARNcontroller_managerOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us + 33.49sWARNros2_control_nodeOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 20.9s | 5550 errors · 159 warnings · 7199 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1942 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.234006037483422 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3884 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.234006037483422[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.070979548036938 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.070979548036938[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.242904884750007 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.242904884750007[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139208312803652 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139208312803652[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.129500679803162 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.129500679803162[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.108394736986296 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.108394736986296[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.030668455542832 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.030668455542832[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.026263125891009 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.026263125891009[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.190184156786324 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.190184156786324[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213926444018733 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213926444018733[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.214528003885583 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.214528003885583[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.210887634848183 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.210887634848183[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.208145217899499 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.208145217899499[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.214620939609830 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.214620939609830[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.220928272008774 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.220928272008774[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.232149231933925 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.232149231933925[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.253472635829717 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.253472635829717[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.255097327238155 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.255097327238155[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.248667929119935 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.248667929119935[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.245003425414136 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.245003425414136[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162265599552110 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162265599552110[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034017105228387 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034017105228387[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031530964762 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031530964762[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003851597242081 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003851597242081[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.155872257591184 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.155872257591184[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.193888944335095 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.193888944335095[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.193253021527400 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.193253021527400[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.192786676554371 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.192786676554371[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.191097715910683 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.191097715910683[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888814780226828 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888814780226828[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.710121957382770 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.710121957382770[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.710422823852942 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.710422823852942[0m ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673432 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673432 ms (missed cycles : 3).[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.470203125075263 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.470203125075263[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.150223219080170 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.150223219080170[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.085527782638178 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.085527782638178[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.078972072218188 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.078972072218188[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.067488200708110 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.067488200708110[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.063692820390935 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.063692820390935[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058490742995926 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058490742995926[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 1937.490 us (Expected < 1666.667 us) --> Read time : 303.746 us, Update time : 844.977 us, Write time : 788.767 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 1937.490 us (Expected < 1666.667 us) --> Read time : 303.746 us, Update time : 844.977 us, Write time : 788.767 us[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.107920831289813 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.107920831289813[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.082399983406802 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.082399983406802[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.075937844382429 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.075937844382429[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051567948426339 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051567948426339[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.106850830142982 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.106850830142982[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104220036790669 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104220036790669[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104748942051276 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.104748942051276[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.121944483563971 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.121944483563971[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.128257600585580 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.128257600585580[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100670701816131 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100670701816131[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.103335037910248 + 1.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.103335037910248[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.122350195454562 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.122350195454562[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.124225587178965 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.124225587178965[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.124765704401570 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.124765704401570[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.125156392079608 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.125156392079608[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.125328162694973 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.125328162694973[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.120906834154267 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.120906834154267[0m ×2 + 1.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.119359758565840 + 1.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.119359758565840[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.117168066580709 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.117168066580709[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.151512403375002 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.151512403375002[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162120178992408 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162120178992408[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.184134104537248 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.184134104537248[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.186688961479105 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.186688961479105[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.184359730872955 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.184359730872955[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.187264193786010 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.187264193786010[0m ×2 + 1.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.201147974819313 + 1.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.201147974819313[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.196617017719485 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.196617017719485[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.195177630231215 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.195177630231215[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.186868956124279 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.186868956124279[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.303758458217304 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.303758458217304[0m ×2 + 1.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.217128387300746 + 1.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.217128387300746[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.097857174548579 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.097857174548579[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.796662481918030 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.796662481918030[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.156589254111636 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.156589254111636[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.118372108649063 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.118372108649063[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.117099928447361 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.117099928447361[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.126134198171443 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.126134198171443[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.137748897553460 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.137748897553460[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075757478530484 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.075757478530484[0m ×2 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061084843943612 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.061084843943612[0m ×2 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.054485393440690 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.054485393440690[0m ×2 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049804241619308 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049804241619308[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047726040520403 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047726040520403[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041386005077974 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041386005077974[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041836821081647 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041836821081647[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041456638471208 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041456638471208[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.042117929195283 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.042117929195283[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043590641374791 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043590641374791[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044874719107306 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044874719107306[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162451 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162451 ms (missed cycles : 3).[0m ×2 + 1.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046071747491964 + 1.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046071747491964[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047077482600277 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047077482600277[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046601770857978 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046601770857978[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046519222659848 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046519222659848[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047248945460218 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047248945460218[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047248945459499 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047248945459499[0m ×2 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047633677665682 + 1.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047633677665682[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047025213687241 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047025213687241[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048661445806016 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048661445806016[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049337464671529 + 2.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049337464671529[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046879202555815 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.046879202555815[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048089398261827 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048089398261827[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 6722.077 us (Expected < 1666.667 us) --> Read time : 202.314 us, Update time : 5945.451 us, Write time : 574.312 us + 2.05sWARNros2_control_nodeOverrun might occur, Total time : 6722.077 us (Expected < 1666.667 us) --> Read time : 202.314 us, Update time : 5945.451 us, Write time : 574.312 us[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048207082619596 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048207082619596[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044432798548085 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044432798548085[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045807958071588 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045807958071588[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045356571178169 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045356571178169[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048050555023177 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.048050555023177[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045256640115020 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.045256640115020[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.039273416747923 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.039273416747923[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.110540853034762 + 2.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.110540853034762[0m ×2 + 2.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.092080711896133 + 2.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.092080711896133[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.086314201590057 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.086314201590057[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.373240410854430 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.373240410854430[0m ×2 + 2.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.915483567597377 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.915483567597377[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.521014692874172 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.521014692874172[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.334683858000581 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.334683858000581[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.884423076851746 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.884423076851746[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.556475199132909 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.556475199132909[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.286053069736298 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.286053069736298[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.341055986081352 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.341055986081352[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.845642438213826 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.845642438213826[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.412173945605575 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.412173945605575[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.770219430206465 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.770219430206465[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.954216306769284 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.954216306769284[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.060652378621612 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.060652378621612[0m ×2 + 2.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.709218341581231 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.709218341581231[0m ×2 + 2.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.308781927844727 + 2.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.308781927844727[0m ×2 + 2.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.509034238256092 + 2.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.509034238256092[0m ×2 + 2.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.303255323613350 + 2.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.303255323613350[0m ×2 + 2.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.693377221856682 + 2.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.693377221856682[0m ×2 + 2.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.193841577016848 + 2.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.193841577016848[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.886276347306172 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.886276347306172[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.712722737447717 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.712722737447717[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.713399041347607 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.713399041347607[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.876343528370022 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.876343528370022[0m ×2 + 2.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.790399308155393 + 2.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.790399308155393[0m ×2 + 2.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.110276845472068 + 2.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.110276845472068[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.449220537852860 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.449220537852860[0m ×2 + 2.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.775515225887460 + 2.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.775515225887460[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.793445218681043 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.793445218681043[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.792532003938209 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.792532003938209[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.684193774971446 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.684193774971446[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.322463007781103 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.322463007781103[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.953885613743841 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.953885613743841[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.587943451922808 ×2 + 2.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.587943451922808[0m ×4 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.067813515510670 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.067813515510670[0m ×2 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.141184528137439 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.141184528137439[0m ×2 + 2.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.350174296362955 + 2.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.350174296362955[0m ×2 + 2.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.674323749997781 + 2.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.674323749997781[0m ×2 + 2.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.264225555414249 + 2.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.264225555414249[0m ×2 + 2.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.829726289210306 + 2.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.829726289210306[0m ×2 + 2.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.506276611764619 + 2.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.506276611764619[0m ×2 + 2.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.597252639675300 + 2.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.597252639675300[0m ×2 + 2.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.109146860670856 + 2.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.109146860670856[0m ×2 + 2.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.209992673384049 + 2.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.209992673384049[0m ×2 + 2.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.939432257054829 + 2.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.939432257054829[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.108649835884268 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.108649835884268[0m ×2 + 2.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.709816884945504 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.709816884945504[0m ×2 + 2.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.371716028085162 + 2.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.371716028085162[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.723248860507098 + 2.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.723248860507098[0m ×2 + 2.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.119363869461885 + 2.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.119363869461885[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.056391685879273 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.056391685879273[0m ×2 + 2.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.918175671980364 + 2.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.918175671980364[0m ×2 + 2.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.580910761212628 + 2.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.580910761212628[0m ×2 + 2.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.394897962056220 + 2.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.394897962056220[0m ×2 + 2.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.829042436047793 + 2.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.829042436047793[0m ×2 + 2.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.246522066517276 + 2.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.246522066517276[0m ×2 + 2.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.667570357129620 + 2.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.667570357129620[0m ×2 + 2.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.078455204585823 + 2.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.078455204585823[0m ×2 + 2.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.454149530321476 + 2.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.454149530321476[0m ×2 + 2.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.819012186307361 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503715 ms (missed cycles : 4). + 2.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.819012186307361[0m ×2 + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503715 ms (missed cycles : 4).[0m ×2 + 2.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.777255486498003 + 2.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.777255486498003[0m ×2 + 2.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.709552413355473 + 2.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.709552413355473[0m ×2 + 2.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.196235929477053 + 2.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.196235929477053[0m ×2 + 2.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.608388137871231 + 2.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.608388137871231[0m ×2 + 2.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.608388137868529 + 2.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.608388137868529[0m ×2 + 2.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.077843480838617 + 2.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.077843480838617[0m ×2 + 2.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.487208923598654 + 2.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.487208923598654[0m ×2 + 3.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.905245161159446 + 3.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.905245161159446[0m ×2 + 3.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.479512087151648 + 3.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.479512087151648[0m ×2 + 3.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.811036304130944 + 3.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.811036304130944[0m ×2 + 3.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.344246950700612 + 3.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.344246950700612[0m ×2 + 3.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.451159412891137 + 3.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.451159412891137[0m ×2 + 3.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.850879771866236 + 3.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.850879771866236[0m ×2 + 3.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.435880965883980 + 3.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.435880965883980[0m ×2 + 3.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.234349757421500 + 3.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.234349757421500[0m ×2 + 3.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.067057346809058 + 3.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.067057346809058[0m ×2 + 3.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.974737456673143 + 3.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.974737456673143[0m ×2 + 3.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.899309420924926 + 3.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.899309420924926[0m ×2 + 3.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.628843429552678 + 3.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.628843429552678[0m ×2 + 3.15sWARNcontroller_managerOverrun might occur, Total time : 2961.400 us (Expected < 1666.667 us) --> Read time : 224.465 us, Update time : 80.272 us, Write time : 2656.663 us + 3.15sWARNros2_control_nodeOverrun might occur, Total time : 2961.400 us (Expected < 1666.667 us) --> Read time : 224.465 us, Update time : 80.272 us, Write time : 2656.663 us[0m ×2 + 3.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.498823793058349 + 3.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.498823793058349[0m ×2 + 3.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.173799858764450 + 3.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.173799858764450[0m ×2 + 3.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.067905554267231 + 3.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.067905554267231[0m ×2 + 3.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.981997615576489 ×2 + 3.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.981997615576489[0m ×4 + 3.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.753328971271880 + 3.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.753328971271880[0m ×2 + 3.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.794206842801490 ×2 + 3.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.794206842801490[0m ×4 + 3.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.054452578035090 + 3.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.054452578035090[0m ×2 + 3.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.186859903617634 + 3.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.186859903617634[0m ×2 + 3.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.203405601103332 + 3.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.203405601103332[0m ×2 + 3.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.543844703418354 + 3.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.543844703418354[0m ×2 + 3.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.116489243139315 + 3.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.116489243139315[0m ×2 + 3.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.048779412078300 + 3.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.048779412078300[0m ×2 + 3.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.274664932491508 + 3.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.274664932491508[0m ×2 + 3.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.634811015065786 + 3.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.634811015065786[0m ×2 + 3.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.034784226094089 + 3.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.034784226094089[0m ×2 + 3.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 56.064145202360848 + 3.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 56.064145202360848[0m ×2 + 3.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 45.534172281861792 + 3.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 45.534172281861792[0m ×2 + 3.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 400.929828621412526 + 3.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 400.929828621412526[0m ×2 + 3.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3219.302969027306062 ×2 + 3.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3219.302969027306062[0m ×4 + 3.38sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 4. The simulation is unstable. Time = 4.8200. ×10 + 3.38sINFOobjective_server_node ×332 + 3.40sINFOobjective_server_node[0;mRollout divergence at step ×2 + 3.41sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 1. The simulation is unstable. Time = 4.8300. ×316 + 3.41sINFOobjective_server_nodeRollout divergence at step ×330 + 3.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28934.617453538943664 ×5 + 3.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28934.617453538943664[0m ×10 + 3.45sINFOobjective_server_nodeWARNING: Nan, Inf or huge value in QACC at DOF 3. The simulation is unstable. Time = 4.8300. ×6 + 3.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607189.75238585 seconds ×3 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290772 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290772 ms (missed cycles : 4).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607190.38757086 seconds. ×3 + 4.15sWARNcontroller_managerOverrun might occur, Total time : 1746.666 us (Expected < 1666.667 us) --> Read time : 231.725 us, Update time : 343.197 us, Write time : 1171.744 us + 4.15sWARNros2_control_nodeOverrun might occur, Total time : 1746.666 us (Expected < 1666.667 us) --> Read time : 231.725 us, Update time : 343.197 us, Write time : 1171.744 us[0m ×2 + 4.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.29sINFOros2_control_node[2026-06-04 21:06:30.550] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-04 21:06:30.550] [info] Accepted new action goal ×2 + 4.35sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.41sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229849 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229849 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun might occur, Total time : 1942.490 us (Expected < 1666.667 us) --> Read time : 287.236 us, Update time : 87.322 us, Write time : 1567.932 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 1942.490 us (Expected < 1666.667 us) --> Read time : 287.236 us, Update time : 87.322 us, Write time : 1567.932 us[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727566 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727566 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 2579.933 us (Expected < 1666.667 us) --> Read time : 1748.356 us, Update time : 104.102 us, Write time : 727.475 us + 6.36sWARNros2_control_nodeOverrun might occur, Total time : 2579.933 us (Expected < 1666.667 us) --> Read time : 1748.356 us, Update time : 104.102 us, Write time : 727.475 us[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666480 ms (missed cycles : 4). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666480 ms (missed cycles : 4).[0m ×2 + 7.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001021560726 + 7.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001021560726[0m ×2 + 7.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001074948930 + 7.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001074948930[0m ×2 + 7.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000353663171803 + 7.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000353663171803[0m ×2 + 7.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166736952616 + 7.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166736952616[0m ×2 + 7.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035305860298 + 7.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035305860298[0m ×2 + 7.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000969719761 + 7.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000969719761[0m ×2 + 7.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017070305882 + 7.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017070305882[0m ×2 + 7.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159625318464 + 7.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159625318464[0m ×2 + 7.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108527048577 + 7.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108527048577[0m ×2 + 7.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020773575042 + 7.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020773575042[0m ×2 + 7.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034220270621 + 7.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034220270621[0m ×2 + 7.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000360656509886 + 7.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000360656509886[0m ×2 + 7.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000200379544829 + 7.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000200379544829[0m ×2 + 7.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000446684537179 + 7.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000446684537179[0m ×2 + 7.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000356798005430 + 7.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000356798005430[0m ×2 + 7.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166790214720 + 7.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166790214720[0m ×2 + 7.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028079135708 + 7.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028079135708[0m ×2 + 7.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000629119925870 + 7.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000629119925870[0m ×2 + 7.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000671971683350 + 7.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000671971683350[0m ×2 + 7.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461577807798 + 7.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000461577807798[0m ×2 + 7.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000150608436590 + 7.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000150608436590[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162103245367 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162103245367[0m ×2 + 7.38sWARNcontroller_managerOverrun might occur, Total time : 1763.466 us (Expected < 1666.667 us) --> Read time : 697.065 us, Update time : 82.071 us, Write time : 984.330 us + 7.38sWARNros2_control_nodeOverrun might occur, Total time : 1763.466 us (Expected < 1666.667 us) --> Read time : 697.065 us, Update time : 82.071 us, Write time : 984.330 us[0m ×2 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000310366107751 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000310366107751[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161943452118 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161943452118[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045087271250 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045087271250[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000212728716885 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000212728716885[0m ×2 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319856202169 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319856202169[0m ×2 + 7.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000552046698562 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000552046698562[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126610175425 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126610175425[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000392209713250 + 7.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000392209713250[0m ×2 + 7.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007499561279 + 7.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007499561279[0m ×2 + 7.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000687202864518 + 7.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000687202864518[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299338678011 + 7.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299338678011[0m ×2 + 7.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064282099009 + 7.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064282099009[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082862314168 + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082862314168[0m ×2 + 7.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084838565643 + 7.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084838565643[0m ×2 + 7.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092983614582 + 7.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092983614582[0m ×2 + 7.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145399259393 + 7.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145399259393[0m ×2 + 7.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092012619091 + 7.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092012619091[0m ×2 + 7.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000608482843423 + 7.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000608482843423[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119065504978 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119065504978[0m ×2 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072274781383 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072274781383[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063640327608 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063640327608[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000362134804361 + 7.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000362134804361[0m ×2 + 7.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018606246339 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018606246339[0m ×2 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000134631240555 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000134631240555[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000193881779497 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000193881779497[0m ×2 + 7.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097570158868 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097570158868[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014994704775 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014994704775[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102723708442 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102723708442[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222518936217 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222518936217[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001277459435692 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001277459435692[0m ×2 + 7.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000749668488328 + 7.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000749668488328[0m ×2 + 7.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000337080959103 + 7.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000337080959103[0m ×2 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126477934952 + 7.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126477934952[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001244315551 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001244315551[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064001983162 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064001983162[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000986520269693 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000986520269693[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938529308323 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938529308323[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214523889780 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214523889780[0m ×2 + 7.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158108404453 + 7.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158108404453[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063715499811 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063715499811[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000620863504275 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000620863504275[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000506706577572 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000506706577572[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000391591137734 ×2 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000391591137734[0m ×4 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824883425323 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000824883425323[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000462825162016 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000462825162016[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078131757572 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078131757572[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011786072520 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011786072520[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000397003537920 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000397003537920[0m ×2 + 7.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393038193265 + 7.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393038193265[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000608949025086 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000608949025086[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070683938412 + 7.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070683938412[0m ×2 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001325576182557 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001325576182557[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000790563245531 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000790563245531[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837929553797 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837929553797[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140042192425 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001140042192425[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311541300821 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311541300821[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001395230869432 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001395230869432[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808326525267 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808326525267[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669704577811 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669704577811[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001551719039548 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001551719039548[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458085815525 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458085815525[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379484715076 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001379484715076[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001501516771710 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001501516771710[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052748042178 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001052748042178[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001135026483145 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001135026483145[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194818822407 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194818822407[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001317855262521 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001317855262521[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001310373846188 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001310373846188[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305833390012 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305833390012[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945614962900 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000945614962900[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994206 ms (missed cycles : 3). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994206 ms (missed cycles : 3).[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001174581962278 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001174581962278[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000796338634939 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000796338634939[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000727596847073 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000727596847073[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001044203151204 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001044203151204[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001243411400479 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001243411400479[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000708786626000 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000708786626000[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000680865574079 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000680865574079[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101070277667 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101070277667[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001334856616498 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001334856616498[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490329369623 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490329369623[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558945927024 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558945927024[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575293871819 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575293871819[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009457829419 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009457829419[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824078989376 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001824078989376[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680314932304 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680314932304[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808056052002 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001808056052002[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651654725669 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001651654725669[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543588698753 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543588698753[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653658988295 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000653658988295[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000753067477474 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000753067477474[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194698808480 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001194698808480[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384108843643 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001384108843643[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001488962641506 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001488962641506[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001538879619371 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001538879619371[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001555370131311 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001555370131311[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002000209523498 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002000209523498[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821683816893 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821683816893[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689780099864 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689780099864[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001597469460380 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001597469460380[0m ×2 + 8.44sWARNcontroller_managerOverrun might occur, Total time : 1933.499 us (Expected < 1666.667 us) --> Read time : 233.905 us, Update time : 87.951 us, Write time : 1611.643 us + 8.45sWARNros2_control_nodeOverrun might occur, Total time : 1933.499 us (Expected < 1666.667 us) --> Read time : 233.905 us, Update time : 87.951 us, Write time : 1611.643 us[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001618256008021 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001618256008021[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005953300551 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005953300551[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001207791836511 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001207791836511[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001344449575223 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001344449575223[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001432750200522 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001432750200522[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001486807400377 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001486807400377[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001517760129224 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001517760129224[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001763252094164 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001763252094164[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682546332801 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682546332801[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623405771241 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623405771241[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001761149406854 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001761149406854[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693009249245 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693009249245[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641833936925 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641833936925[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714575395838 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001714575395838[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812035140299 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812035140299[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001731779032418 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001731779032418[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672636639007 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672636639007[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631668923912 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631668923912[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001605327780160 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001605327780160[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741258626363 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741258626363[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672729811984 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672729811984[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001628989591191 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001628989591191[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001798215455610 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001798215455610[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740325930732 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740325930732[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696990163981 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696990163981[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666626269655 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666626269655[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001804294470597 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001804294470597[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730790441841 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001730790441841[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682447448944 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682447448944[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001653114736799 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001653114736799[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001637489405299 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001637489405299[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776152694554 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776152694554[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715818698039 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715818698039[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001678546743279 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001678546743279[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001657939531950 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001657939531950[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856871061800 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856871061800[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975085319626 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975085319626[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001891245551890 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001891245551890[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150850051837 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150850051837[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984677420200 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984677420200[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867475800321 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867475800321[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789189129609 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789189129609[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740293767387 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740293767387[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712591198727 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712591198727[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001699478277779 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001699478277779[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695910690824 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695910690824[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001698211823196 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001698211823196[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961231798993 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961231798993[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001864823509911 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001864823509911[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001801793965626 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001801793965626[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000711745889856 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000711745889856[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001211816869738 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001211816869738[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529081279308 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529081279308[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486367260301 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486367260301[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290147938487 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290147938487[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130896910388 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130896910388[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134507732952 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134507732952[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002017976560098 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002017976560098[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001932483397438 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001932483397438[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873096966271 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873096966271[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834358627967 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834358627967[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002330978890366 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002330978890366[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002116161239630 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002116161239630[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972013643622 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972013643622[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880852525501 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880852525501[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827618269037 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827618269037[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001800212555453 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001800212555453[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789471416114 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789471416114[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788801727381 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788801727381[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001793673598845 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001793673598845[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001801114355048 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001801114355048[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809289816725 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001809289816725[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311755139273 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002311755139273[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126091251721 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2). + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126091251721[0m ×2 + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2).[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001999639708988 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001999639708988[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001733198181909 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001733198181909[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617357907295 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617357907295[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765155439803 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765155439803[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002454630370643 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002454630370643[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002228340124200 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002228340124200[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070770680304 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070770680304[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002576379865802 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002576379865802[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002277374689929 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002277374689929[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077818699420 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077818699420[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951837853771 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951837853771[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001877905602820 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001877905602820[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002384600078970 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002384600078970[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218066646840 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218066646840[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070027628877 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002070027628877[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972324140512 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972324140512[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002479818772412 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002479818772412[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002223852989671 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002223852989671[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054040186402 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054040186402[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947493418790 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947493418790[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885394031230 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885394031230[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726123121795 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001726123121795[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634261447674 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634261447674[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002389626294851 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002389626294851[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003850729073 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003850729073[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567700085864 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002567700085864[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002267623178610 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002267623178610[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542838388926 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542838388926[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002240599074451 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002240599074451[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046228198058 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046228198058[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929041368455 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929041368455[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437676420203 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437676420203[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178106545272 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178106545272[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013176074409 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013176074409[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001915247259398 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001915247259398[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659527020394 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659527020394[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703130264284 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703130264284[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357311394723 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357311394723[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002128569626168 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002128569626168[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985402194560 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001985402194560[0m ×2 + 9.56sWARNcontroller_managerOverrun might occur, Total time : 2075.232 us (Expected < 1666.667 us) --> Read time : 160.494 us, Update time : 278.545 us, Write time : 1636.193 us + 9.57sWARNros2_control_nodeOverrun might occur, Total time : 2075.232 us (Expected < 1666.667 us) --> Read time : 160.494 us, Update time : 278.545 us, Write time : 1636.193 us[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493750197908 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493750197908[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817345672522 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817345672522[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111608418591 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111608418591[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002260469962240 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002260469962240[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902037947088 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902037947088[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002201634288030 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002201634288030[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002302831700407 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002302831700407[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451555125664 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451555125664[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080678980329 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003080678980329[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440493740966 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003440493740966[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828113494062 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828113494062[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003102446964111 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003102446964111[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578614793589 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578614793589[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002233448887581 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002233448887581[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812542876015 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812542876015[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002836045203948 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002836045203948[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002399627887098 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002399627887098[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002120228892180 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002120228892180[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002076491434165 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002076491434165[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134381086923 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002134381086923[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002838290758623 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002838290758623[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473303247443 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473303247443[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013400722469 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003013400722469[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002545673355276 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002545673355276[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818819136691 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818819136691[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002402494255249 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002402494255249[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002133013318658 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002133013318658[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759195933838 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002759195933838[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002365603273427 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002365603273427[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869498534193 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869498534193[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001848655632324 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001848655632324[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002121241983966 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002121241983966[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817886100577 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002817886100577[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003243081684442 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003243081684442[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693972052309 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693972052309[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002323914365343 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002323914365343[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002826453568469 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002826453568469[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397692398318 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397692398318[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169736294673 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169736294673[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810092647268 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810092647268[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207264695178 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207264695178[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650224471506 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650224471506[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281271176892 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281271176892[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834796470503 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834796470503[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002400470876874 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002400470876874[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906624962597 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906624962597[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440864421868 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440864421868[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925797830929 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925797830929[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002447838246873 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002447838246873[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925129326416 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925129326416[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444108684171 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444108684171[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919619680641 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002919619680641[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439041341033 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439041341033[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914696075071 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914696075071[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435437355045 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435437355045[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911502599615 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911502599615[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002433467538046 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002433467538046[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909698392587 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909698392587[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055371936349 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055371936349[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002522832366147 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002522832366147[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960484480820 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002960484480820[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458641380916 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002458641380916[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955473297053 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955473297053[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.049862 ms (missed cycles : 8). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.049862 ms (missed cycles : 8).[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337225378975 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337225378975[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002158266702559 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002158266702559[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811941364036 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811941364036[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226752226719 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226752226719[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467073442429 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467073442429[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003614070876321 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003614070876321[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894404437552 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894404437552[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203307691860 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203307691860[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604547523841 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604547523841[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007426239535 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007426239535[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264693628420 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264693628420[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002633965124322 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002633965124322[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016681299831 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016681299831[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163295899519 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163295899519[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002569442391284 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002569442391284[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977865616728 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002977865616728[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241652834027 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241652834027[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867007093542 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867007093542[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054174646576 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054174646576[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789835959828 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789835959828[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003240232488038 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003240232488038[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162863421283 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162863421283[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066328643313 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066328643313[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065297303455 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065297303455[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729120604200 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729120604200[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149627671429 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003149627671429[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398615556310 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398615556310[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532059053284 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532059053284[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591616084617 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003591616084617[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737431921846 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737431921846[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917368388455 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002917368388455[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166204422291 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003166204422291[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326475362448 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326475362448[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423806383162 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423806383162[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699068197415 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002699068197415[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021239455635 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021239455635[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236042018460 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236042018460[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372022323157 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372022323157[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517527753566 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517527753566[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764468882269 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764468882269[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064459964935 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064459964935[0m ×2 + 10.65sWARNcontroller_managerOverrun might occur, Total time : 6206.765 us (Expected < 1666.667 us) --> Read time : 181.664 us, Update time : 74.401 us, Write time : 5950.700 us + 10.66sWARNros2_control_nodeOverrun might occur, Total time : 6206.765 us (Expected < 1666.667 us) --> Read time : 181.664 us, Update time : 74.401 us, Write time : 5950.700 us[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263349484968 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263349484968[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839515813726 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839515813726[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002597868744035 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002597868744035[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515139726050 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515139726050[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652169723888 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652169723888[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700733630299 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700733630299[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698457614802 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698457614802[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670482598830 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670482598830[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632681024409 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632681024409[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900935559933 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900935559933[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761022085506 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761022085506[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002530263366895 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002530263366895[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924909142740 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924909142740[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187716518543 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003187716518543[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103088336205 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103088336205[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922549434199 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922549434199[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779638708423 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003779638708423[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672039702172 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672039702172[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924274561846 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924274561846[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791998408498 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791998408498[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994710721382 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994710721382[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842605876858 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842605876858[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723726557565 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723726557565[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635117521199 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635117521199[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571970195775 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571970195775[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839641102652 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839641102652[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695439424471 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695439424471[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597345344926 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597345344926[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533922108533 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533922108533[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801526127741 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801526127741[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661835319357 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661835319357[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570134553573 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570134553573[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513310876939 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003513310876939[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480737567355 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480737567355[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975103925865 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003975103925865[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771676679110 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771676679110[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635274609063 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003635274609063[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548434440840 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548434440840[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799407757804 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799407757804[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965546985989 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965546985989[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336366201251 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336366201251[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752779931417 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752779931417[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592899438621 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592899438621[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120072973711 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120072973711[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005471076114709 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005471076114709[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005620127158650 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005620127158650[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890086299500 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890086299500[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364134355183 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004364134355183[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001639225387 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001639225387[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510296542721 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510296542721[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079560817137 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004079560817137[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798252256692 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003798252256692[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625245522534 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625245522534[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527298341024 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527298341024[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466419956579 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466419956579[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443920 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443920 ms (missed cycles : 3).[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489804218900 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489804218900[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036342184255 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036342184255[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399525667388 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399525667388[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741832802410 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741832802410[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267848034530 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267848034530[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205358041663 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205358041663[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004523047330193 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004523047330193[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060948193126 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060948193126[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763667274432 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763667274432[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700396606636 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700396606636[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165949682561 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165949682561[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820241304129 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003820241304129[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610088001743 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610088001743[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829384384433 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829384384433[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335636605992 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335636605992[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490522497226 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490522497226[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719224589277 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719224589277[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189195640519 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189195640519[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305758453521 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305758453521[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005329214608135 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005329214608135[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550352009130 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550352009130[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103947427212 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103947427212[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005278510949241 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005278510949241[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542457943310 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542457943310[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049007494767 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049007494767[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194741861285 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194741861285[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453704789671 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453704789671[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425098505309 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425098505309[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569410868502 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569410868502[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010246785836 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010246785836[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121759154747 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005121759154747[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393754726616 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393754726616[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377201105725 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377201105725[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391729557207 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005391729557207[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663270601037 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663270601037[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504077042333 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504077042333[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005468245011273 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005468245011273[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606336207138 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606336207138[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485677354374 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485677354374[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756331793075 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756331793075[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746502457611 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746502457611[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530975108616 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530975108616[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571092635758 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571092635758[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005493201149248 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005493201149248[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524940004184 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524940004184[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350885251704 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350885251704[0m ×2 + 11.65sWARNcontroller_managerOverrun might occur, Total time : 1941.329 us (Expected < 1666.667 us) --> Read time : 810.346 us, Update time : 100.532 us, Write time : 1030.451 us + 11.66sWARNros2_control_nodeOverrun might occur, Total time : 1941.329 us (Expected < 1666.667 us) --> Read time : 810.346 us, Update time : 100.532 us, Write time : 1030.451 us[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434143588258 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434143588258[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108918464801 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108918464801[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027526444779 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027526444779[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005236155534512 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005236155534512[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005966821488648 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005966821488648[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006368200005557 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006368200005557[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006553711846465 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006553711846465[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174922013387 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174922013387[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005697300589221 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005697300589221[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006016978370745 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006016978370745[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769935561517 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004769935561517[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399029021562 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005399029021562[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888503820578 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005888503820578[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004674636150376 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004674636150376[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310272561921 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310272561921[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005719169019694 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005719169019694[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671811487577 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671811487577[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352665928579 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352665928579[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403652000921 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403652000921[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006010527485894 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006010527485894[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006318631676022 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006318631676022[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566767492296 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566767492296[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903770215255 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903770215255[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539407133108 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539407133108[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005970501969714 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005970501969714[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006185202331755 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006185202331755[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006262616865271 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006262616865271[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006258998173039 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006258998173039[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006212515799516 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006212515799516[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007088000000345 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007088000000345[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688151320912 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688151320912[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006373847502060 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006373847502060[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006145863650638 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006145863650638[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987593577740 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987593577740[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881837604335 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881837604335[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005813536196984 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005813536196984[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770611213700 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770611213700[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743869387349 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743869387349[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006206485235117 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006206485235117[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006011915771050 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006011915771050[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005875975286785 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005875975286785[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005783427852696 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005783427852696[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006349423142672 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006349423142672[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006154182753284 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006154182753284[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005991851544074 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005991851544074[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005862006223281 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005862006223281[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760980149632 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760980149632[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007302245922998 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007302245922998[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006632836795405 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006632836795405[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146668973779 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146668973779[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006968727185251 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006968727185251[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006319435593756 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006319435593756[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884551495415 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884551495415[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006086173299878 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006086173299878[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832631822555 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832631822555[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007327582225215 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007327582225215[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006560629014462 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006560629014462[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023412730183 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023412730183[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663100585316 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663100585316[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549554 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549554 ms (missed cycles : 2).[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007135299618561 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007135299618561[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490577462031 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490577462031[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007293771459959 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007293771459959[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008977151946302 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008977151946302[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007622386294027 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007622386294027[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008896944661885 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008896944661885[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009019786579229 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009019786579229[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007423340941191 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007423340941191[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006333293881206 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006333293881206[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007849403025955 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007849403025955[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557262599966 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557262599966[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007318757951251 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007318757951251[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006181294598241 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006181294598241[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007647759053073 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007647759053073[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006369675388361 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006369675388361[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713903722565 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713903722565[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007777788599050 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007777788599050[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006416120632650 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006416120632650[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007682932201916 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007682932201916[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006321853002390 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006321853002390[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056045985648 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056045985648[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845340168964 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845340168964[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006440340334804 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006440340334804[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007777486864132 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007777486864132[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386962081257 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386962081257[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449344259155 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449344259155[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007418859219690 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007418859219690[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008533633049144 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008533633049144[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009833538568204 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009833538568204[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009865863809899 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009865863809899[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009685510915357 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009685510915357[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009407515623485 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009407515623485[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010095584570101 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010095584570101[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007535429512796 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007535429512796[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007833442758767 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007833442758767[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007992825787412 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007992825787412[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008667865279989 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008667865279989[0m ×2 + 12.65sWARNcontroller_managerOverrun might occur, Total time : 2131.383 us (Expected < 1666.667 us) --> Read time : 1476.240 us, Update time : 94.302 us, Write time : 560.841 us + 12.66sWARNros2_control_nodeOverrun might occur, Total time : 2131.383 us (Expected < 1666.667 us) --> Read time : 1476.240 us, Update time : 94.302 us, Write time : 560.841 us[0m ×2 + 12.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108907088143 + 12.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108907088143[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460708252153 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460708252153[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006266398420055 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006266398420055[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007358268474704 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007358268474704[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007950086547892 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007950086547892[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011687201416487 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011687201416487[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011875702547085 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011875702547085[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010488933723600 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010488933723600[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009415858923990 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009415858923990[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008618152295314 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008618152295314[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009247499201621 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009247499201621[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008428718437124 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008428718437124[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008418341234095 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008418341234095[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007939813813617 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007939813813617[0m ×2 + 12.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010027743563937 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010027743563937[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008854790363122 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008854790363122[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008028225362810 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008028225362810[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007467409037478 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007467409037478[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009502909881567 + 12.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009502909881567[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008337021369811 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008337021369811[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007549753901903 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007549753901903[0m ×2 + 12.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007041098572904 + 12.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007041098572904[0m ×2 + 12.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007425778936617 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007425778936617[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010172853744661 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010172853744661[0m ×2 + 12.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012106963249233 + 12.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012106963249233[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009904815124731 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009904815124731[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008170754330182 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008170754330182[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010247981262900 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010247981262900[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011418887484457 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011418887484457[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011388678896607 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011388678896607[0m ×2 + 12.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009076910187982 + 12.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009076910187982[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010378400683237 + 12.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010378400683237[0m ×2 + 12.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008270095366585 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008270095366585[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009691962258895 + 12.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009691962258895[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010508947379717 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010508947379717[0m ×2 + 12.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007461977687896 + 12.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007461977687896[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009047097621453 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009047097621453[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009971660789280 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009971660789280[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010431727312582 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010431727312582[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012078302335861 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012078302335861[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009004019020627 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009004019020627[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009526408637266 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009526408637266[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009778871301085 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009778871301085[0m ×2 + 13.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011362299796023 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011362299796023[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010794950785510 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010794950785510[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010301423368082 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010301423368082[0m ×2 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009886010552396 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009886010552396[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008663824500504 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008663824500504[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013364405082571 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013364405082571[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014804608691544 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014804608691544[0m ×2 + 13.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012671341935281 + 13.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012671341935281[0m ×2 + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011050401969852 + 13.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011050401969852[0m ×2 + 13.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009862145943038 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009862145943038[0m ×2 + 13.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012981674960335 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012981674960335[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013374484338684 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013374484338684[0m ×2 + 13.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011039411489353 + 13.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011039411489353[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009426565655402 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009426565655402[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012108591952160 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012108591952160[0m ×2 + 13.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009922418676480 + 13.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009922418676480[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012069195986794 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012069195986794[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009691767645963 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009691767645963[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011910861523272 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011910861523272[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985098 ms (missed cycles : 3). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985098 ms (missed cycles : 3).[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008860508543780 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008860508543780[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006148134508321 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006148134508321[0m ×2 + 13.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009648179387418 + 13.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009648179387418[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017512136114698 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017512136114698[0m ×2 + 13.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016024061570752 + 13.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016024061570752[0m ×2 + 13.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014590827491843 + 13.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014590827491843[0m ×2 + 13.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016442334271789 + 13.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016442334271789[0m ×2 + 13.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011279393414868 + 13.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011279393414868[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016163103290154 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016163103290154[0m ×2 + 13.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013780481548309 + 13.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013780481548309[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016632857931369 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016632857931369[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013347001508720 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013347001508720[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011026197557256 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011026197557256[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013670777055474 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013670777055474[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014923995998180 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014923995998180[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015650215895622 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015650215895622[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017458256044316 + 13.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017458256044316[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159889459818 + 13.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159889459818[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014830023663607 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014830023663607[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013579143740092 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013579143740092[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015545558220155 + 13.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015545558220155[0m ×2 + 13.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013584873300140 + 13.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013584873300140[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012036893422338 + 13.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012036893422338[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015903496157839 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015903496157839[0m ×2 + 13.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017491215028740 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017491215028740[0m ×2 + 13.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018309852172655 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018309852172655[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008473870582841 + 13.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008473870582841[0m ×2 + 13.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011719598713416 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011719598713416[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013216359638251 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013216359638251[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013560179948701 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013560179948701[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013201569289608 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013201569289608[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016691238557811 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016691238557811[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011583438260724 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011583438260724[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010874877129415 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010874877129415[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010129096898949 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010129096898949[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010371353895736 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010371353895736[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935286358572 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935286358572[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006854802689286 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006854802689286[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007335819579412 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007335819579412[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005533661356540 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005533661356540[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006767528753215 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006767528753215[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166467214418 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005166467214418[0m ×2 + 13.68sWARNcontroller_managerOverrun might occur, Total time : 5099.904 us (Expected < 1666.667 us) --> Read time : 229.645 us, Update time : 4273.467 us, Write time : 596.792 us + 13.69sWARNros2_control_nodeOverrun might occur, Total time : 5099.904 us (Expected < 1666.667 us) --> Read time : 229.645 us, Update time : 4273.467 us, Write time : 596.792 us[0m ×2 + 13.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041172484772 + 13.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006041172484772[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406209050739 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406209050739[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135436770168 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135436770168[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132221947765 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132221947765[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775189930465 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775189930465[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737588271415 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737588271415[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006256593828032 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006256593828032[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016634133741 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016634133741[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593066735793 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005593066735793[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006067620374862 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006067620374862[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799017611479 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004799017611479[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302921419470 + 13.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302921419470[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264988607113 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264988607113[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084856206970 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005084856206970[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105816222161 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105816222161[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743026659004 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743026659004[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894134110416 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894134110416[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668115087517 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668115087517[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837860859282 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837860859282[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506989472216 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506989472216[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912127584247 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912127584247[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946027034055 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946027034055[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711178605576 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711178605576[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295971205861 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295971205861[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171605417039 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171605417039[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692637994707 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692637994707[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969886817123 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969886817123[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686039802308 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686039802308[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198283099201 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198283099201[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977145454748 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977145454748[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444838405977 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444838405977[0m ×2 + 14.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696162871960 + 14.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696162871960[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804450609783 + 14.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804450609783[0m ×2 + 14.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004823183896519 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004823183896519[0m ×2 + 14.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791654974325 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791654974325[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792036638467 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792036638467[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785647281496 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785647281496[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077697950574 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004077697950574[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260546851239 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260546851239[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579078610500 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579078610500[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642017837200 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642017837200[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913797792027 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913797792027[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002730276857980 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002730276857980[0m ×2 + 14.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492917935321 + 14.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003492917935321[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961966727503 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961966727503[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223282463139 + 14.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004223282463139[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256518581230 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256518581230[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990725952485 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990725952485[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755346649390 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755346649390[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557329306207 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557329306207[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398730840737 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398730840737[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554473021345 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554473021345[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373291239839 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373291239839[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239406889926 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239406889926[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293257827484 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293257827484[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549789725922 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006549789725922[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007512111043195 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007512111043195[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008081073237078 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008081073237078[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008428684495021 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008428684495021[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008473536847879 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008473536847879[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008294499293281 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008294499293281[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009329827451031 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009329827451031[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008691694843463 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008691694843463[0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244742 ms (missed cycles : 4). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244742 ms (missed cycles : 4).[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008249279875000 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008249279875000[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008800582553855 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008800582553855[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009348509890960 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009348509890960[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008442035653223 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008442035653223[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007800465719096 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007800465719096[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008082246855164 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008082246855164[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010280844757558 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010280844757558[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008668430337290 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008668430337290[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009603062954838 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009603062954838[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008137325508883 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008137325508883[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007167455979457 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007167455979457[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009276407774412 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009276407774412[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009298242445483 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009298242445483[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007642527226280 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007642527226280[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711365976139 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711365976139[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006792153974872 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006792153974872[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008615000483425 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008615000483425[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009408642321386 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009408642321386[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007756441585070 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007756441585070[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006665400937740 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006665400937740[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008325568792571 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008325568792571[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008728565526160 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008728565526160[0m ×2 + 14.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007105169981566 + 14.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007105169981566[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006090893317879 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006090893317879[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007726158787659 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007726158787659[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008429557442976 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008429557442976[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006807361096613 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006807361096613[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123541398823 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123541398823[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006817730799515 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006817730799515[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007945242073848 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007945242073848[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008435548241464 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008435548241464[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006709520234277 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006709520234277[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007878559593383 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007878559593383[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006299931735468 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006299931735468[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007174529534236 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007174529534236[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005728858814172 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005728858814172[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688361321650 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688361321650[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007143371750238 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007143371750238[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924404584063 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924404584063[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007022724628060 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007022724628060[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007577527686129 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007577527686129[0m ×2 + 14.70sWARNcontroller_managerOverrun might occur, Total time : 2150.834 us (Expected < 1666.667 us) --> Read time : 208.195 us, Update time : 1479.970 us, Write time : 462.669 us + 14.70sWARNros2_control_nodeOverrun might occur, Total time : 2150.834 us (Expected < 1666.667 us) --> Read time : 208.195 us, Update time : 1479.970 us, Write time : 462.669 us[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005954427366643 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005954427366643[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555218464725 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555218464725[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637029934697 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637029934697[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305426332049 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005305426332049[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006126287226490 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006126287226490[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007977197797131 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007977197797131[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007879203515939 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007879203515939[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425661895309 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425661895309[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486950339548 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004486950339548[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005372935231312 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005372935231312[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008702036280066 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008702036280066[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007542692185233 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007542692185233[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007162741489263 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007162741489263[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006546374161388 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006546374161388[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008042705315092 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008042705315092[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148614242095 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148614242095[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056766924888 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056766924888[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007351834556324 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007351834556324[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058013230360 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058013230360[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023555124695 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023555124695[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005417219634156 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005417219634156[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007652604171126 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007652604171126[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005944712665550 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005944712665550[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006696604965452 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006696604965452[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006124086636033 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006124086636033[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005274975480948 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005274975480948[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006460569239404 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006460569239404[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005874616036499 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005874616036499[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475572543683 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475572543683[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013715857419114 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013715857419114[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000569899646223 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000569899646223[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018085675381785 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018085675381785[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015456135909851 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015456135909851[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003667993112362 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003667993112362[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010858557744258 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010858557744258[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001613500794122 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001613500794122[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008357954476056 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008357954476056[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004386449966303 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004386449966303[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006830544699489 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006830544699489[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007798781130444 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007798781130444[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869744213155 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869744213155[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009340324927912 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009340324927912[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127949165272 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127949165272[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009231531945717 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009231531945717[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004038629417953 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004038629417953[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008644424631175 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008644424631175[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466031223811 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466031223811[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006327177463639 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006327177463639[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000322952288724 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000322952288724[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009374232710815 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009374232710815[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676004396237 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676004396237[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009949825266521 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009949825266521[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000510713318262 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000510713318262[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007738470699040 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007738470699040[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001874043583431 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001874043583431[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005874846345671 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005874846345671[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002385289880726 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002385289880726[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006119690431896 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006119690431896[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002447226656804 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002447226656804[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991455906251 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991455906251[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002679156050130 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002679156050130[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988692364502 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988692364502[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002637116272478 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002637116272478[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006308487520 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006308487520[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.377843 ms (missed cycles : 10). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.377843 ms (missed cycles : 10).[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003074912329552 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003074912329552[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007985187621220 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007985187621220[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001916467095543 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001916467095543[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158149898397 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158149898397[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003113776616186 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003113776616186[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974086690612 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974086690612[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000919088751144 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000919088751144[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007632143947935 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007632143947935[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000317872622682 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000317872622682[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527693134685 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527693134685[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005060538037325 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005060538037325[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006148293241528 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006148293241528[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515860402120 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515860402120[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008154700924645 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008154700924645[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000236418349237 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000236418349237[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007528464994174 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007528464994174[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051128883223 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051128883223[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403960003961 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403960003961[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001214700649548 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001214700649548[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008389671362388 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008389671362388[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000676658851451 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000676658851451[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422552235855 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004422552235855[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002952776987020 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002952776987020[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002082897244872 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002082897244872[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001832864423810 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001832864423810[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003725165801218 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003725165801218[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205854525633 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205854525633[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005420978972801 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005420978972801[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316679130111 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316679130111[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777518914945 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777518914945[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001186101607631 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001186101607631[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765253382584 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765253382584[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002661173786377 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002661173786377[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001127220474396 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001127220474396[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002797833667962 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002797833667962[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226171672229 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226171672229[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001031032581267 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001031032581267[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938463291886 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938463291886[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312395184941 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312395184941[0m ×2 + 15.72sWARNcontroller_managerOverrun might occur, Total time : 2755.627 us (Expected < 1666.667 us) --> Read time : 251.416 us, Update time : 367.647 us, Write time : 2136.564 us + 15.73sWARNros2_control_nodeOverrun might occur, Total time : 2755.627 us (Expected < 1666.667 us) --> Read time : 251.416 us, Update time : 367.647 us, Write time : 2136.564 us[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477439785949 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477439785949[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002177059535649 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002177059535649[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965836838788 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965836838788[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001189201889243 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001189201889243[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697740361121 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697740361121[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000829526189368 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000829526189368[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809168874770 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809168874770[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000823976601435 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000823976601435[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593022096724 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593022096724[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174631833676 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174631833676[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643149064081 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002643149064081[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002202990467500 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002202990467500[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644206572075 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644206572075[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037926969055 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037926969055[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220196331047 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220196331047[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001337492347515 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001337492347515[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509797430110 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509797430110[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002225690119417 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002225690119417[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000534085779217 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000534085779217[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001879405853938 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001879405853938[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000774592347597 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000774592347597[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001509242899864 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001509242899864[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209767048712 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001209767048712[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001041729616493 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001041729616493[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670165588396 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670165588396[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001959712388409 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001959712388409[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391036750983 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391036750983[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416348277649 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416348277649[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040421559742 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040421559742[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202608860789 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202608860789[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002755965639291 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002755965639291[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199786898641 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000199786898641[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002249671078163 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002249671078163[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000236373483256 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000236373483256[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601100304961 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601100304961[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001334998505571 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001334998505571[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001174651712723 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001174651712723[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001655577599661 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001655577599661[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000335330930961 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000335330930961[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001414396165198 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001414396165198[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171233031956 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171233031956[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001303709099791 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001303709099791[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002064638161086 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002064638161086[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000448756477710 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000448756477710[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695752229948 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695752229948[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000410747694450 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000410747694450[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002505170631427 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002505170631427[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000275203039704 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000275203039704[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001628369488446 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001628369488446[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000164056362671 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000164056362671[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178862790181 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002178862790181[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001114808459109 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001114808459109[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692696011651 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692696011651[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000542693118099 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000542693118099[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903580615848 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903580615848[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000317420854068 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000317420854068[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093023350708 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001093023350708[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467017827705 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467017827705[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001840381697850 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001840381697850[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001124198179108 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725621 ms (missed cycles : 2). + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001124198179108[0m ×2 + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725621 ms (missed cycles : 2).[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011364890108 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011364890108[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001386432783441 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001386432783441[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385568998051 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385568998051[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001507461851467 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001507461851467[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000648744918069 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000648744918069[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000582955872214 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000582955872214[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593575755164 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593575755164[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001012493963856 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001012493963856[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768191534841 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001768191534841[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004348748675 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004348748675[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000948546320030 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000948546320030[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000487875896098 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000487875896098[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001537609566209 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001537609566209[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070715139485 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070715139485[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000805595256305 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000805595256305[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000419825871931 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000419825871931[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771778730326 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771778730326[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114857385261 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114857385261[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999728300853 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000999728300853[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000488701872170 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000488701872170[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934270927517 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934270927517[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000153356793675 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000153356793675[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001095960710422 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001095960710422[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013830839976 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013830839976[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001034538338863 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001034538338863[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000774388847537 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000774388847537[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000670414499672 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000670414499672[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000745074840949 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000745074840949[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000287680064285 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000287680064285[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000797784766827 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000797784766827[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385135535054 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385135535054[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000371780262461 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000371780262461[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682986051372 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000682986051372[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000426382227477 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000426382227477[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769246582484 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000769246582484[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072345029442 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072345029442[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000761000948373 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000761000948373[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176140228626 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176140228626[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000624980465316 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000624980465316[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347563492657 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347563492657[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393257831218 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393257831218[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000489385964823 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000489385964823[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000601996453915 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000601996453915[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000518697381758 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000518697381758[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000381672538324 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000381672538324[0m ×2 + 16.75sWARNcontroller_managerOverrun might occur, Total time : 2278.936 us (Expected < 1666.667 us) --> Read time : 292.796 us, Update time : 958.019 us, Write time : 1028.121 us + 16.76sWARNros2_control_nodeOverrun might occur, Total time : 2278.936 us (Expected < 1666.667 us) --> Read time : 292.796 us, Update time : 958.019 us, Write time : 1028.121 us[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000765464973258 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000765464973258[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000502825270884 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000502825270884[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000224772550847 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000224772550847[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593449271405 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593449271405[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000629930704687 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000629930704687[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000415630607248 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000415630607248[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198482964519 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000198482964519[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000486240196721 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000486240196721[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000279060225711 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000279060225711[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000326254014097 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000326254014097[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000389088973127 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000389088973127[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000522092657845 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000522092657845[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000424710280457 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000424710280457[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000343646636437 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000343646636437[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000545321408435 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000545321408435[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194934665832 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194934665832[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240462556604 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240462556604[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000562727444713 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000562727444713[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000433419012180 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000433419012180[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183865663376 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183865663376[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000485070705368 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000485070705368[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000245467894004 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000245467894004[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251264951756 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000251264951756[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438680343093 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438680343093[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000314725408672 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000314725408672[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000511414863989 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000511414863989[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079818996192 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079818996192[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517964245821 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000517964245821[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157090172616 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000157090172616[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000544995225357 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000544995225357[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285985244250 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285985244250[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000353356853738 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000353356853738[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000441872309848 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000441872309848[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160007888731 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160007888731[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000220392003551 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000220392003551[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000418010810579 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000418010810579[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455241695086 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000455241695086[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000209822954894 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000209822954894[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219683368354 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219683368354[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000512478362503 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000512478362503[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000257157646639 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000257157646639[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069764383492 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069764383492[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000392399870554 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000392399870554[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304074849459 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000304074849459[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258769282378 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258769282378[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000376470176060 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000376470176060[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130460594440 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130460594440[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492381145504 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492381145504[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032279731076 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032279731076[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274112032851 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274112032851[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232111095636 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232111095636[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000599831963823 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000599831963823[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147627991552 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147627991552[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466518781879 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466518781879[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171326056638 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000171326056638[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160978535939 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160978535939[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122916436152 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122916436152[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000312018970020 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000312018970020[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000311794796088 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000311794796088[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136453219875 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000136453219875[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000165787012051 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000165787012051[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241352617427 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241352617427[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084528888649 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084528888649[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000355623261204 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000355623261204[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353614 ms (missed cycles : 4). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353614 ms (missed cycles : 4).[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182248387963 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182248387963[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000312169502986 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000312169502986[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066825557657 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066825557657[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000277078662465 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000277078662465[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029998062033 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029998062033[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000335239776221 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000335239776221[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156329099585 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156329099585[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142081346528 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142081346528[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094394221637 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094394221637[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275295217964 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275295217964[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000349216506948 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000349216506948[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097273489087 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097273489087[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134914326054 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134914326054[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239508945452 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239508945452[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163237064535 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163237064535[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127566627674 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127566627674[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034787364962 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034787364962[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289901740714 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000289901740714[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204506303850 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204506303850[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082213753794 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082213753794[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074328331431 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074328331431[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330776370979 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330776370979[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233860657153 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000233860657153[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154605570065 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154605570065[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116689100412 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116689100412[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183816328509 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183816328509[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038076781480 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038076781480[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222233113069 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222233113069[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061457544038 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061457544038[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151694569910 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151694569910[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133724888911 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133724888911[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118666654239 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118666654239[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057595247816 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057595247816[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279540755516 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000279540755516[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197059900352 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197059900352[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010116649316 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010116649316[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000228438958656 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000228438958656[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183752329173 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183752329173[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069194063265 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069194063265[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128051250534 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128051250534[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034770952970 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034770952970[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210276751169 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000210276751169[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007093350232 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007093350232[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000197860036745 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000197860036745[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045284818612 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045284818612[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299190493187 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000299190493187[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152302796917 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152302796917[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014298119163 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014298119163[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210431235293 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210431235293[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053085472439 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000053085472439[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120522970165 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120522970165[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106180301290 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106180301290[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097386297089 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097386297089[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133696691037 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133696691037[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034319728835 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034319728835[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142341261849 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142341261849[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057353620234 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057353620234[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000138366702433 + 18.00sWARNcontroller_managerOverrun might occur, Total time : 2035.421 us (Expected < 1666.667 us) --> Read time : 336.957 us, Update time : 1211.594 us, Write time : 486.870 us + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000138366702433[0m ×2 + 18.00sWARNros2_control_nodeOverrun might occur, Total time : 2035.421 us (Expected < 1666.667 us) --> Read time : 336.957 us, Update time : 1211.594 us, Write time : 486.870 us[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179465222936 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179465222936[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035763100584 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035763100584[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087946262908 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087946262908[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000107225572194 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000107225572194[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093079450954 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093079450954[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060088112551 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060088112551[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096863788753 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096863788753[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082933362363 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082933362363[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093124078839 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093124078839[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119182142338 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119182142338[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029401426758 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029401426758[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055912850965 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055912850965[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144759988051 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144759988051[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147579852985 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000147579852985[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015068617910 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015068617910[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000178544808280 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000178544808280[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087713567682 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087713567682[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073047697034 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073047697034[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022988003946 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022988003946[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104123500260 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104123500260[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090852476282 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000090852476282[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101002612611 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101002612611[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013636839655 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013636839655[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000112201132089 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000112201132089[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096030151345 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096030151345[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064439705891 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064439705891[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037167593662 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037167593662[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081185246566 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081185246566[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055930567708 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055930567708[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060396609762 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060396609762[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083227898233 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083227898233[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033805152123 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033805152123[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029420079720 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029420079720[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142609772014 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142609772014[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097649048981 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097649048981[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008861530478 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008861530478[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116921695318 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116921695318[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000145418558038 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000145418558038[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011990313053 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011990313053[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075171164986 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075171164986[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044099004855 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044099004855[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082073250037 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082073250037[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067543490007 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067543490007[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037494953241 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037494953241[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039277626168 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039277626168[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089055890077 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089055890077[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095506000700 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095506000700[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003399427680 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003399427680[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092788905631 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092788905631[0m ×2 + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080186 ms (missed cycles : 2). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080186 ms (missed cycles : 2).[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019666856368 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019666856368[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055812429415 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055812429415[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005451989760 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005451989760[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083975580963 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083975580963[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061284721421 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061284721421[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026066282496 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026066282496[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027236992221 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027236992221[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088307386794 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088307386794[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086921088282 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086921088282[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009000220237 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009000220237[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104944071128 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104944071128[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056859883102 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056859883102[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013714547292 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013714547292[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048694227514 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048694227514[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044699256478 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044699256478[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065984915010 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065984915010[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019189054576 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019189054576[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025565879568 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025565879568[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048742663850 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048742663850[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032885039709 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032885039709[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026721602743 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026721602743[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047658706794 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047658706794[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029763895955 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029763895955[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043419509449 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043419509449[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047858897088 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047858897088[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031657616298 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031657616298[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008967825699 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008967825699[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075123610206 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075123610206[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059160192051 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059160192051[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002236788138 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002236788138[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076106114659 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076106114659[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042497940408 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042497940408[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032073295275 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032073295275[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027676270002 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027676270002[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044930795540 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000044930795540[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037227909803 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037227909803[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038276433014 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038276433014[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016638406212 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016638406212[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043023190032 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043023190032[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028818459896 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028818459896[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020625784899 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020625784899[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016977990521 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016977990521[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045326624460 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045326624460[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044874195726 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044874195726[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022688007753 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022688007753[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025175955069 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025175955069[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039017001407 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039017001407[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031734591617 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031734591617[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020500971406 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020500971406[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017543913562 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017543913562[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046208180916 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046208180916[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061576145607 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061576145607[0m ×2 + 19.01sWARNcontroller_managerOverrun might occur, Total time : 4984.221 us (Expected < 1666.667 us) --> Read time : 289.736 us, Update time : 85.402 us, Write time : 4609.083 us + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013116407201 + 19.01sWARNros2_control_nodeOverrun might occur, Total time : 4984.221 us (Expected < 1666.667 us) --> Read time : 289.736 us, Update time : 85.402 us, Write time : 4609.083 us[0m ×2 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013116407201[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029103358226 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029103358226[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026063359474 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026063359474[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008943481896 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008943481896[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030014298826 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030014298826[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012820909223 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032079598463 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012820909223[0m ×2 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032079598463[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033361148106 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033361148106[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011072319431 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011072319431[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017729567324 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017729567324[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024165692398 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024165692398[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020531072328 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020531072328[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013230320945 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013230320945[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021782076042 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021782076042[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018334071608 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018334071608[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021909670990 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021909670990[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026905486668 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026905486668[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007668376715 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007668376715[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017214511781 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017214511781[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036991455514 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036991455514[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039611213118 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039611213118[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003410190368 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003410190368[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048468564598 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048468564598[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025414120046 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025414120046[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002823878966 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002823878966[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035454233931 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035454233931[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009774558014 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009774558014[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024333942738 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024333942738[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018618297989 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018618297989[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019174041897 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019174041897[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013928095659 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013928095659[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011462044628 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011462044628[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010760609159 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010760609159[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030354817446 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030354817446[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030364555909 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030364555909[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003044322643 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003044322643[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025183776426 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025183776426[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012862374785 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012862374785[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017635962152 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017635962152[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009169285032 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009169285032[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014235347234 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014235347234[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013073772646 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013073772646[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010233596961 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010233596961[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021054290273 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021054290273[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017841732687 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017841732687[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000605791154 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000605791154[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026916229470 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026916229470[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005209516569 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005209516569[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025108788451 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025108788451[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014182756756 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014182756756[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016107841248 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016107841248[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007628611507 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007628611507[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017577365940 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017577365940[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004293121477 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004293121477[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023865531072 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023865531072[0m ×2 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202398 ms (missed cycles : 2). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202398 ms (missed cycles : 2).[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013357617967 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013357617967[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010577563138 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010577563138[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003604219334 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003604219334[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015936025269 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015936025269[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008810612128 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008810612128[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018617715940 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018617715940[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005063682225 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005063682225[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012711219885 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012711219885[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004372965521 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004372965521[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027076902393 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027076902393[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005711231039 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005711231039[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017721359580 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017721359580[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005966712330 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005966712330[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017670903125 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017670903125[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021912221330 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021912221330[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004700382500 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004700382500[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011092425311 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011092425311[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012833175074 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012833175074[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007231790220 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007231790220[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011895722556 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011895722556[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009872804262 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009872804262[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005915810839 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005915810839[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010628650376 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010628650376[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008220098719 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008220098719[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010899872386 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010899872386[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012400836210 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012400836210[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001939119319 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001939119319[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017563896636 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017563896636[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002274976074 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002274976074[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015448894911 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015448894911[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013622115232 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013622115232[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004527084646 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004527084646[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007666676596 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007666676596[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009691329994 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009691329994[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008863372896 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008863372896[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005189366534 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005189366534[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009347471826 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009347471826[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007354796216 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007354796216[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009406850069 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009406850069[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005788909164 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005788909164[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005377138237 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005377138237[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011677962946 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011677962946[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008713950580 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008713950580[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003703336960 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003703336960[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010925091637 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010925091637[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005064362682 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005064362682[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006838268952 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006838268952[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009905591895 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009905591895[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002275087297 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002275087297[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010754731766 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010754731766[0m ×2 + 20.02sWARNcontroller_managerOverrun might occur, Total time : 5063.473 us (Expected < 1666.667 us) --> Read time : 159.844 us, Update time : 4357.688 us, Write time : 545.941 us + 20.02sWARNros2_control_nodeOverrun might occur, Total time : 5063.473 us (Expected < 1666.667 us) --> Read time : 159.844 us, Update time : 4357.688 us, Write time : 545.941 us[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004075288676 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004075288676[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012995422732 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012995422732[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007638621960 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007638621960[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005690818866 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005690818866[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006860215840 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006860215840[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007879340426 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007879340426[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004023342899 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004023342899[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005813025926 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005813025926[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008100485544 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008100485544[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005522477928 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005522477928[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008100935723 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008100935723[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008670926824 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008670926824[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003073906144 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003073906144[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003843339393 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003843339393[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007378199621 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007378199621[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005613270345 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005613270345[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008317467159 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008317467159[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004200460945 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004200460945[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005118003993 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005118003993[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003493159027 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003493159027[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011776054930 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011776054930[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011179910336 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011179910336[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000859293649 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000859293649[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009311417949 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009311417949[0m ×2 + 20.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005047424526 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005047424526[0m ×2 + 20.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009176722434 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009176722434[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002327324756 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002327324756[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010168421241 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010168421241[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002234849638 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002234849638[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007007937429 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007007937429[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006004205938 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006004205938[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002609042856 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002609042856[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003880916569 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003880916569[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010784746934 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010784746934[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003809410145 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003809410145[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002826292259 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002826292259[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008578404772 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008578404772[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008606741761 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008606741761[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000744631308 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000744631308[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010541164813 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010541164813[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000498072112 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000498072112[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006526835639 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006526835639[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001633007371 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001633007371[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006704788337 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006704788337[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006143486921 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006143486921[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004473059385 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004473059385[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002665460914 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002665460914[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005595359918 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005595359918[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004099908099 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004099908099[0m ×2 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616526 ms (missed cycles : 4). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616526 ms (missed cycles : 4).[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004448252668 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004448252668[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001952251572 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001952251572[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004978976762 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004978976762[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003399277922 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003399277922[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002371171037 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002371171037[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005035376766 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005035376766[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000136335843 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000136335843[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005095785347 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005095785347[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003047584540 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003047584540[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004886363301 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004886363301[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005012310584 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005012310584[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001850869651 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001850869651[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003233195576 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003233195576[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003194493917 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003194493917[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004004686993 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004004686993[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001397077122 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001397077122[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004403934549 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004403934549[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002171068856 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002171068856[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004495979785 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004495979785[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003635313608 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003635313608[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004507082124 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004507082124[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000545796158 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000545796158[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008836076828 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008836076828[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004695515077 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004695515077[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616049049 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616049049[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006103047867 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006103047867[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005250626419 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005250626419[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000295523898 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000295523898[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006818997651 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006818997651[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003804315101 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003804315101[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001659760941 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001659760941[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004215263118 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004215263118[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005241330843 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005241330843[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000651939718 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000651939718[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005985318397 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005985318397[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131453551 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000131453551[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003664584605 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003664584605[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002122937737 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002122937737[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004064343304 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004064343304[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004189098050 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004189098050[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001330611288 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001330611288[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002292168325 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002292168325[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001215981948 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001215981948[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002766272784 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002766272784[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003182253212 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003182253212[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003110759702 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003110759702[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001725559632 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001725559632[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000994092988 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000994092988[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003132273111 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003132273111[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001819149238 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001819149238[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001579729356 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001579729356[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002093122886 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002093122886[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002003207882 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002003207882[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002328650356 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002328650356[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002821751118 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002821751118[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000481301320 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000481301320[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003943212017 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003943212017[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003319278062 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003319278062[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000575843914 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000575843914[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001698969862 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001698969862[0m ×2 + 21.12sWARNcontroller_managerOverrun might occur, Total time : 2205.528 us (Expected < 1666.667 us) --> Read time : 301.197 us, Update time : 1479.451 us, Write time : 424.880 us + 21.12sWARNros2_control_nodeOverrun might occur, Total time : 2205.528 us (Expected < 1666.667 us) --> Read time : 301.197 us, Update time : 1479.451 us, Write time : 424.880 us[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002930301227 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002930301227[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002798259508 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002798259508[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001050396427 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001050396427[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001508085753 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001508085753[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002137588272 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002137588272[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001810565963 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001810565963[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001686353639 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001686353639[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002585039553 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002585039553[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997768596 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997768596[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001374079778 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001374079778[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002838017536 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002838017536[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003143561344 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003143561344[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000012492515682 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000012492515682[0m ×2 + 21.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003082823798 + 21.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003082823798[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003536394427 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003536394427[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000382182493 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000382182493[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003719075244 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003719075244[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002611884661 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002611884661[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009990372862 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009990372862[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003196512118 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003196512118[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002397069404 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002397069404[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011802180068 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011802180068[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003290695176 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003290695176[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292171642 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292171642[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002067508337 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002067508337[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000575689696 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000575689696[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001884496733 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001884496733[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001939602954 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001939602954[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000886649773 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000886649773[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002432903150 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002432903150[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000569869894 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000569869894[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001280163766 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001280163766[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002113807306 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002113807306[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002654221709 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002654221709[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152819914 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152819914[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002525899198 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002525899198[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002811529187 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002811529187[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000556548103 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000556548103[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003184664968 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003184664968[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001289795656 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001289795656[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724338916 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724338916[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000983798925 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000983798925[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000557975084 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000557975084[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001391127848 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001391127848[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001126698701 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001126698701[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000555482590 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000555482590[0m ×2 + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400035 ms (missed cycles : 3). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400035 ms (missed cycles : 3).[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001659702289 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001659702289[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000649929497 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000649929497[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001610282155 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001610282155[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001220972931 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001220972931[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000702667399 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000702667399[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000767173884 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000767173884[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001111300553 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001111300553[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000989055884 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000989055884[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000853334995 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000853334995[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001411528656 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001411528656[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000483180201 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000483180201[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000764029967 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000764029967[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001038303357 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001038303357[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000434338074 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000434338074[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001630076015 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001630076015[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968537730 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968537730[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474066083 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474066083[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000441252409 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000441252409[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001392061584 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001392061584[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000952482497 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000952482497[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005644604866 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005644604866[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000787853304 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000787853304[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000661702035 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000661702035[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000804709742 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000804709742[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001114017584 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001114017584[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001018832520 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001018832520[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561665144 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561665144[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000337338990 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000337338990[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997208626 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997208626[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000616998280 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000616998280[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488729740 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488729740[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707298030 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707298030[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001086994550 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001086994550[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000518297407 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000518297407[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000629860670 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000629860670[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000962272079 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000962272079[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001428623790 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001428623790[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000170435245 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000170435245[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001271379835 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001271379835[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000766033145 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000766033145[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000493379837 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000493379837[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000529512214 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000529512214[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716644642 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716644642[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000326992278 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000326992278[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001078341200 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001078341200[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000712089806 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000712089806[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000479435418 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000479435418[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000453794914 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000453794914[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000706236747 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000706236747[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000611092395 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000611092395[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000347506176 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000347506176[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200402379 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200402379[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001216967405 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001216967405[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000847900236 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000847900236[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000550711967 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000550711967[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000272484275 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000272484275[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000882093916 + 22.13sWARNcontroller_managerOverrun might occur, Total time : 3175.278 us (Expected < 1666.667 us) --> Read time : 2539.994 us, Update time : 98.152 us, Write time : 537.132 us + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000882093916[0m ×2 + 22.13sWARNros2_control_nodeOverrun might occur, Total time : 3175.278 us (Expected < 1666.667 us) --> Read time : 2539.994 us, Update time : 98.152 us, Write time : 537.132 us[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000858179908 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000858179908[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000640662883 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000640662883[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003173384864 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003173384864[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000861629684 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000861629684[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000417991614 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000417991614[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388208684 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388208684[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279883390 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279883390[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001088260670 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001088260670[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328107222 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328107222[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000713553884 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000713553884[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000302935272 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000302935272[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438012661 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438012661[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003235471392 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003235471392[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000911785540 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000911785540[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525050872 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525050872[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000383111339 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000383111339[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000163445553 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000163445553[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573094997 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573094997[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000566561743 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000566561743[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000407496032 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000407496032[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000380282198 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000380282198[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476682909 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476682909[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236127163 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236127163[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337948621 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337948621[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168732418 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168732418[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000809970271 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000809970271[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002892175234 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002892175234[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000425208849 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000425208849[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616273566 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616273566[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000208525507 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000208525507[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000442837486 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000442837486[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000613313034 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000613313034[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004025554604 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004025554604[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237909470 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237909470[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000645795925 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000645795925[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003411787662 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003411787662[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000383140513 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000383140513[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000562731090 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000562731090[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000352719806 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000352719806[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387279160 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387279160[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000546026629 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000546026629[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317771063 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317771063[0m ×2 + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176137 ms (missed cycles : 2). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176137 ms (missed cycles : 2).[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000353305817 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000353305817[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000401589575 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000401589575[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001366118141 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001366118141[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292881678 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292881678[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001873508887 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001873508887[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000243851932 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000243851932[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286096893 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286096893[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281333200 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281333200[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000215817273 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000215817273[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156098014 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156098014[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000358467828 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000358467828[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221994815 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221994815[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002008970381 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002008970381[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000545993749 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000545993749[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001258199065 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001258199065[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184919889 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184919889[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337092031 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337092031[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001677494358 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001677494358[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000402267304 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000402267304[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000243915358 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000243915358[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001589411618 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001589411618[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000256843486 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000256843486[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193101412 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193101412[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001690655479 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001690655479[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000289257261 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000289257261[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267833695 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267833695[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000260972933 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000260972933[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163327925 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163327925[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159550400 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159550400[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000359735254 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000359735254[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000128936461 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000128936461[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268940637 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268940637[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002570522763 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002570522763[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180374745 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180374745[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000242428457 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000242428457[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152957150 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152957150[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266020306 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266020306[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000232410879 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000232410879[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001362652111 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001362652111[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267425034 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267425034[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000197414539 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000197414539[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102479554 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102479554[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000205785771 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000205785771[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000186651276 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000186651276[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001295577323 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001295577323[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200141998 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200141998[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001320961213 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001320961213[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000853832495 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000853832495[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000360293951 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000360293951[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000161193217 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000161193217[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001152232131 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001152232131[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000223451156 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000223451156[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001588550468 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001588550468[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001339206877 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001339206877[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167252401 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167252401[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001898162729 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001898162729[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583487676 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583487676[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158844151 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001622015115 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158844151[0m ×2 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001622015115[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001100732580 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001100732580[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137584901 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137584901[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001290605915 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001290605915[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001099224439 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001099224439[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000127002723 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000127002723[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266438480 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266438480[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001076825892 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001076825892[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001750279733 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001750279733[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001403634826 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001403634826[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000126629422 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000126629422[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158332532 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158332532[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001118686878 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001118686878[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000922523360 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000922523360[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215191553 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215191553[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001317425852 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001317425852[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692030069 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692030069[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000947254890 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000947254890[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196437619 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196437619[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000141584372 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000141584372[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692579336 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692579336[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000560959621 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000560959621[0m ×2 + 23.36sWARNcontroller_managerOverrun might occur, Total time : 4599.409 us (Expected < 1666.667 us) --> Read time : 3943.805 us, Update time : 97.882 us, Write time : 557.722 us + 23.36sWARNros2_control_nodeOverrun might occur, Total time : 4599.409 us (Expected < 1666.667 us) --> Read time : 3943.805 us, Update time : 97.882 us, Write time : 557.722 us[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369306564 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369306564[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000301420274 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000301420274[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000847677697 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000847677697[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000679769561 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000679769561[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000548195224 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000548195224[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000445142354 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000445142354[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000388244163 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000388244163[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000786009914 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000786009914[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135364284 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135364284[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000694686251 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000694686251[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000554556445 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000554556445[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000443416507 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000443416507[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000354406733 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000354406733[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000283261930 ×2 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000283261930[0m ×4 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000226325461 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000226325461[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000180730509 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000180730509[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000144213957 ×2 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000144213957[0m ×4 + 23.56sINFOjoint_trajectory_controllerAccepted new action goal ×92 + 23.56sINFOros2_control_nodeAccepted new action goal[0m ×184 + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720205 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720205 ms (missed cycles : 2).[0m ×2 + 24.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607210.68744588 seconds ×3 + 24.56sWARNcontroller_managerOverrun might occur, Total time : 1921.682 us (Expected < 1666.667 us) --> Read time : 269.216 us, Update time : 703.345 us, Write time : 949.121 us + 24.56sWARNros2_control_nodeOverrun might occur, Total time : 1921.682 us (Expected < 1666.667 us) --> Read time : 269.216 us, Update time : 703.345 us, Write time : 949.121 us[0m ×2 + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733762 ms (missed cycles : 2). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733762 ms (missed cycles : 2).[0m ×2 + 24.88sINFOjoint_trajectory_controllerGoal reached, success! + 24.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 25.03sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780607211.29071832 seconds. ×3 + 25.11sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view" + 25.11sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 25.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 25.21sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 25.22sINFOros2_control_node[2026-06-04 21:06:51.475] [info] Received new action goal ×2 + 25.22sINFOros2_control_node[2026-06-04 21:06:51.475] [info] Accepted new action goal ×2 + 25.64sWARNcontroller_managerOverrun might occur, Total time : 2002.103 us (Expected < 1666.667 us) --> Read time : 201.524 us, Update time : 138.733 us, Write time : 1661.846 us + 25.64sWARNros2_control_nodeOverrun might occur, Total time : 2002.103 us (Expected < 1666.667 us) --> Read time : 201.524 us, Update time : 138.733 us, Write time : 1661.846 us[0m ×2 + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050984 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050984 ms (missed cycles : 3).[0m ×2 + 26.70sWARNcontroller_managerOverrun might occur, Total time : 2501.984 us (Expected < 1666.667 us) --> Read time : 251.336 us, Update time : 947.490 us, Write time : 1303.158 us + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697145 ms (missed cycles : 3). + 26.71sWARNros2_control_nodeOverrun might occur, Total time : 2501.984 us (Expected < 1666.667 us) --> Read time : 251.336 us, Update time : 947.490 us, Write time : 1303.158 us[0m ×2 + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697145 ms (missed cycles : 3).[0m ×2 + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936526 ms (missed cycles : 5). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936526 ms (missed cycles : 5).[0m ×2 + 27.81sWARNcontroller_managerOverrun might occur, Total time : 1706.317 us (Expected < 1666.667 us) --> Read time : 228.275 us, Update time : 73.032 us, Write time : 1405.010 us + 27.81sWARNros2_control_nodeOverrun might occur, Total time : 1706.317 us (Expected < 1666.667 us) --> Read time : 228.275 us, Update time : 73.032 us, Write time : 1405.010 us[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.4s | 61 errors · 66 warnings · 298 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4).[0m ×2 + 0.72sWARNcontroller_managerOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us + 0.72sWARNros2_control_nodeOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us[0m ×2 + 1.02sINFOros2_control_node[2026-06-04 21:08:50.612] [info] Got request to cancel active goal. ×2 + 1.02sINFOros2_control_node[2026-06-04 21:08:50.613] [info] Canceling active goal... ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2). + 1.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607330.62339807 seconds ×3 + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2).[0m ×2 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.04sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607331.22088289 seconds. ×3 + 1.79sWARNcontroller_managerOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us + 1.79sWARNros2_control_nodeOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7).[0m ×2 + 2.09sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event" + 2.09sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event"[0m ×2 + 2.60sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 2.60sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607332.21351266 seconds ×3 + 2.79sWARNcontroller_managerOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us + 2.79sWARNros2_control_nodeOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3).[0m ×2 + 3.10sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.10sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607332.78029275 seconds. ×3 + 3.18sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.18sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.18sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.18sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607332.78251600 seconds ×3 + 3.60sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.60sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 3.60sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.61sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607333.34302068 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607333.34359241 seconds ×3 + 3.85sWARNcontroller_managerOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us + 3.85sWARNros2_control_nodeOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us[0m ×2 + 4.11sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 4.11sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780607334.04421139 seconds. ×3 + 5.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780607334.65434813 seconds ×3 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 3023.782 us (Expected < 1666.667 us) --> Read time : 257.116 us, Update time : 2311.846 us, Write time : 454.820 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 3023.782 us (Expected < 1666.667 us) --> Read time : 257.116 us, Update time : 2311.846 us, Write time : 454.820 us[0m ×2 + 5.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626156 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626156 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754709 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754709 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 2345.298 us (Expected < 1666.667 us) --> Read time : 225.595 us, Update time : 1538.511 us, Write time : 581.192 us + 6.21sWARNros2_control_nodeOverrun might occur, Total time : 2345.298 us (Expected < 1666.667 us) --> Read time : 225.595 us, Update time : 1538.511 us, Write time : 581.192 us[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830310 ms (missed cycles : 6). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830310 ms (missed cycles : 6).[0m ×2 + 7.52sWARNcontroller_managerOverrun might occur, Total time : 1794.849 us (Expected < 1666.667 us) --> Read time : 314.947 us, Update time : 73.762 us, Write time : 1406.140 us + 7.52sWARNros2_control_nodeOverrun might occur, Total time : 1794.849 us (Expected < 1666.667 us) --> Read time : 314.947 us, Update time : 73.762 us, Write time : 1406.140 us[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641463 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641463 ms (missed cycles : 4).[0m ×2 + 8.85sWARNcontroller_managerOverrun might occur, Total time : 2812.950 us (Expected < 1666.667 us) --> Read time : 193.744 us, Update time : 2191.857 us, Write time : 427.349 us + 8.86sWARNros2_control_nodeOverrun might occur, Total time : 2812.950 us (Expected < 1666.667 us) --> Read time : 193.744 us, Update time : 2191.857 us, Write time : 427.349 us[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613022 ms (missed cycles : 4). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613022 ms (missed cycles : 4).[0m ×2 + 9.92sWARNcontroller_managerOverrun might occur, Total time : 5882.257 us (Expected < 1666.667 us) --> Read time : 208.054 us, Update time : 5223.963 us, Write time : 450.240 us + 9.93sWARNros2_control_nodeOverrun might occur, Total time : 5882.257 us (Expected < 1666.667 us) --> Read time : 208.054 us, Update time : 5223.963 us, Write time : 450.240 us[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425269 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425269 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun might occur, Total time : 4800.653 us (Expected < 1666.667 us) --> Read time : 232.255 us, Update time : 30.571 us, Write time : 4537.827 us + 11.03sWARNros2_control_nodeOverrun might occur, Total time : 4800.653 us (Expected < 1666.667 us) --> Read time : 232.255 us, Update time : 30.571 us, Write time : 4537.827 us[0m ×2 + 11.05sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 11.07sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 11.08sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] ×2 + 11.11sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.11sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 11.12sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 11.13sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.14sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.15sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.16sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.17sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.18sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.19sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.20sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.20sINFOcontroller_managerShutdown request received.... + 11.20sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.20sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.20sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 11.20sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.20sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.20sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.20sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.20sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.20sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.20sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.20sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.20sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.20sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.21sINFOcontroller_managerShutting down the controller manager. + 11.21sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.21sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.21sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.21sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.21sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.21sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.21sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.21sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.21sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.21sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.21sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.21sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.21sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.21sINFOfoxglove_bridgeShutdown complete[0m ×2 + 11.21sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.21sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.21sERRORmove_groupStack trace (most recent call last) in thread 10140: ×2 + 11.21sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.21sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.21sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.21sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.21sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.21sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efdcfa2aa63, in __clone ×2 + 11.22sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efdcf99daa3, in ×2 + 11.22sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efdcfc2fdb3, in ×2 + 11.22sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7efdd028418a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.22sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efdcffa24d0, in rclcpp::Rate::sleep() ×2 + 11.22sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efdcfef5a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.22sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7efdcfebaa71, in ×2 + 11.22sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efdcfbfe390, in __cxa_throw ×2 + 11.22sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efdcfbe8a54, in std::terminate() ×2 + 11.22sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efdcfbfe0d9, in ×2 + 11.22sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7efdcfbe8ff4, in ×2 + 11.22sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efdcf9298fe, in abort ×2 + 11.22sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efdcf94627d, in raise ×2 + 11.22sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7efdcf99fb2c, in pthread_kill ×2 + 11.22sERRORmove_groupAborted (Signal sent by tkill() 9756 0) ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.22sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.22sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.22sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.22sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.22sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.22sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.22sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.22sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.23sERRORmove_group-9process has died [pid 9756, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_6y2dqlso --params-file /tmp/launch_params_zzks76tx --params-file /tmp/launch_params_tn1hgels --params-file /tmp/launch_params_5t5uasnq --params-file /tmp/launch_params_brbwroy0 --params-file /tmp/launch_params_gzfwauzy --params-file /tmp/launch_params_brohr_zh --params-file /tmp/launch_params_s4f0vzt3 --params-file /tmp/launch_params_ck89hbr0']. ×2 + 11.24sINFOobjective_server_node[0;m[2026-06-04 21:09:00.835] [moveit_pro_license] [info] ×2 + 11.24sINFOobjective_server_node************************************************* ×4 + 11.24sINFOobjective_server_node* MoveIt Pro License ×2 + 11.24sINFOobjective_server_node* Application has successfully terminated ×2 + 11.30sINFOobjective_server_nodecorrupted double-linked list ×2 + 11.30sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.32sINFOobjective_server_node#20 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.32sINFOobjective_server_node#19 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e8f00736a4, in _start ×2 + 11.32sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff1d28a, in __libc_start_main ×2 + 11.32sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff1d1d0, in ×2 + 11.32sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff3abbd, in exit ×2 + 11.32sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff3aa75, in ×2 + 11.32sINFOobjective_server_node#14 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7f546db411a3, in Ort::detail::Base<OrtEnv>::~Base() ×2 + 11.32sINFOobjective_server_node#13 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f546c9bc144, in ×2 + 11.32sINFOobjective_server_node#12 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f546ca20721, in ×2 + 11.32sINFOobjective_server_node#11 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f546d07acf6, in ×2 + 11.32sINFOobjective_server_node#10 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.23.2", at 0x7f546d07abf1, in ×2 + 11.32sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bffa0dcd, in __libc_free ×2 + 11.32sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff9e439, in ×2 + 11.32sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff9dda4, in ×2 + 11.32sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff9ccd9, in ×2 + 11.32sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff9cb7b, in ×2 + 11.32sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff9bff4, in ×2 + 11.32sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff1c7b5, in ×2 + 11.32sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff1b8fe, in abort ×2 + 11.32sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff3827d, in raise ×2 + 11.32sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f54bff91b2c, in pthread_kill ×2 + 11.32sERRORobjective_server_nodeAborted (Signal sent by tkill() 9761 0) ×2 + 11.41sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.41sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.41sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.06sERRORobjective_server_node_main-14process has died [pid 9761, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_hzhf0iiu --params-file /tmp/launch_params_rw9oz3n2 --params-file /tmp/launch_params_hguci9iy --params-file /tmp/launch_params_q68h7o0w --params-file /tmp/launch_params_4fczxos4 --params-file /tmp/launch_params_wv511x8y']. ×2 + 12.06sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.07sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 12.10sINFOweb_video_server-20process has finished cleanly [pid 9885] ×2 + 12.12sINFOtf2_web_republisher_node-19process has finished cleanly [pid 9766] ×2 + 12.12sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 12.19sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9760] ×2 + 12.20sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9759] ×2 + 12.23sERRORui_teleop_bridge-17process has died [pid 9764, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_m6021mc_']. ×2 + 12.23sINFOparameter_manager_node-10process has finished cleanly [pid 9757] ×2 + 12.24sINFOexecute_objective_bridge-16process has finished cleanly [pid 9763] ×2 + 12.26sINFOwaypoint_manager_node-11process has finished cleanly [pid 9758] ×2 + 13.23sINFOfoxglove_bridge-18process has finished cleanly [pid 9765] ×2 + 13.23sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system ×2 + 14.05sINFOros2_control_node-1process has finished cleanly [pid 9730] ×2 + 16.05sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 16.06sINFOcomponent_container_mt-15sending signal 'SIGKILL' to process[component_container_mt-15] ×2 + 16.08sERRORcomponent_container_mt-15process has died [pid 9762, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_mt --ros-args --log-level error --ros-args -r __node:=moveit_studio_container -r __ns:=/']. ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 3 errors · 108 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1868.488 us (Expected < 1666.667 us) --> Read time : 234.494 us, Update time : 85.422 us, Write time : 1548.572 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1868.488 us (Expected < 1666.667 us) --> Read time : 234.494 us, Update time : 85.422 us, Write time : 1548.572 us[0m ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672442 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672442 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 2048.091 us (Expected < 1666.667 us) --> Read time : 276.785 us, Update time : 462.940 us, Write time : 1308.366 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 2048.091 us (Expected < 1666.667 us) --> Read time : 276.785 us, Update time : 462.940 us, Write time : 1308.366 us[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.62sINFOobjective_server_nodeFound path in 1 iterations (0.00264957 s). ×2 + 1.72sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.76sINFOros2_control_node[2026-06-04 21:04:30.360] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-04 21:04:30.360] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.049030 ms (missed cycles : 8). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.049030 ms (missed cycles : 8).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1861.708 us (Expected < 1666.667 us) --> Read time : 223.025 us, Update time : 81.862 us, Write time : 1556.821 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1861.708 us (Expected < 1666.667 us) --> Read time : 223.025 us, Update time : 81.862 us, Write time : 1556.821 us[0m ×2 + 2.20sINFOros2_control_node[2026-06-04 21:04:30.804] [info] Received new action goal ×2 + 2.20sINFOros2_control_node[2026-06-04 21:04:30.804] [info] Accepted new action goal ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563270 ms (missed cycles : 4). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563270 ms (missed cycles : 4).[0m ×2 + 3.11sINFOros2_control_node[2026-06-04 21:04:31.714] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-06-04 21:04:31.714] [info] Canceling active goal... ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780607071.73574352 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.45sWARNcontroller_managerOverrun might occur, Total time : 3176.475 us (Expected < 1666.667 us) --> Read time : 371.898 us, Update time : 2315.037 us, Write time : 489.540 us + 3.46sWARNros2_control_nodeOverrun might occur, Total time : 3176.475 us (Expected < 1666.667 us) --> Read time : 371.898 us, Update time : 2315.037 us, Write time : 489.540 us[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780607072.35221934 seconds. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.93sINFOros2_control_node[2026-06-04 21:04:32.536] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:04:32.536] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856135 ms (missed cycles : 5). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856135 ms (missed cycles : 5).[0m ×2 + 4.24sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.24sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.24sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.24sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 1806.577 us (Expected < 1666.667 us) --> Read time : 510.781 us, Update time : 902.188 us, Write time : 393.608 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 1806.577 us (Expected < 1666.667 us) --> Read time : 510.781 us, Update time : 902.188 us, Write time : 393.608 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932735 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932735 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun might occur, Total time : 5064.601 us (Expected < 1666.667 us) --> Read time : 251.445 us, Update time : 4263.915 us, Write time : 549.241 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 5064.601 us (Expected < 1666.667 us) --> Read time : 251.445 us, Update time : 4263.915 us, Write time : 549.241 us[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313206 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313206 ms (missed cycles : 4).[0m ×2 + 6.40sINFOros2_control_node[2026-06-04 21:04:35.006] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-06-04 21:04:35.006] [info] Accepted new action goal ×2 + 6.84sWARNcontroller_managerOverrun might occur, Total time : 1978.030 us (Expected < 1666.667 us) --> Read time : 805.227 us, Update time : 83.301 us, Write time : 1089.502 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 1978.030 us (Expected < 1666.667 us) --> Read time : 805.227 us, Update time : 83.301 us, Write time : 1089.502 us[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933796 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933796 ms (missed cycles : 3).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413680 ms (missed cycles : 3). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413680 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun might occur, Total time : 1749.716 us (Expected < 1666.667 us) --> Read time : 744.975 us, Update time : 96.982 us, Write time : 907.759 us + 8.24sWARNros2_control_nodeOverrun might occur, Total time : 1749.716 us (Expected < 1666.667 us) --> Read time : 744.975 us, Update time : 96.982 us, Write time : 907.759 us[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877107 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877107 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun might occur, Total time : 1845.217 us (Expected < 1666.667 us) --> Read time : 224.564 us, Update time : 161.283 us, Write time : 1459.370 us + 9.28sWARNros2_control_nodeOverrun might occur, Total time : 1845.217 us (Expected < 1666.667 us) --> Read time : 224.564 us, Update time : 161.283 us, Write time : 1459.370 us[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196596 ms (missed cycles : 4). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196596 ms (missed cycles : 4).[0m ×2 + 10.31sWARNcontroller_managerOverrun might occur, Total time : 1765.726 us (Expected < 1666.667 us) --> Read time : 228.395 us, Update time : 560.871 us, Write time : 976.460 us + 10.31sWARNros2_control_nodeOverrun might occur, Total time : 1765.726 us (Expected < 1666.667 us) --> Read time : 228.395 us, Update time : 560.871 us, Write time : 976.460 us[0m ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684268 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684268 ms (missed cycles : 2).[0m ×2 + 11.45sWARNcontroller_managerOverrun might occur, Total time : 4660.595 us (Expected < 1666.667 us) --> Read time : 200.104 us, Update time : 124.722 us, Write time : 4335.769 us + 11.45sWARNros2_control_nodeOverrun might occur, Total time : 4660.595 us (Expected < 1666.667 us) --> Read time : 200.104 us, Update time : 124.722 us, Write time : 4335.769 us[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351354 ms (missed cycles : 4). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351354 ms (missed cycles : 4).[0m ×2 + 12.45sWARNcontroller_managerOverrun might occur, Total time : 7718.158 us (Expected < 1666.667 us) --> Read time : 266.946 us, Update time : 6957.752 us, Write time : 493.460 us + 12.45sWARNros2_control_nodeOverrun might occur, Total time : 7718.158 us (Expected < 1666.667 us) --> Read time : 266.946 us, Update time : 6957.752 us, Write time : 493.460 us[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649868 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649868 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun might occur, Total time : 1860.488 us (Expected < 1666.667 us) --> Read time : 158.524 us, Update time : 122.672 us, Write time : 1579.292 us + 13.64sWARNros2_control_nodeOverrun might occur, Total time : 1860.488 us (Expected < 1666.667 us) --> Read time : 158.524 us, Update time : 122.672 us, Write time : 1579.292 us[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427748 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427748 ms (missed cycles : 3).[0m ×2 + 14.80sWARNcontroller_managerOverrun might occur, Total time : 7681.755 us (Expected < 1666.667 us) --> Read time : 262.115 us, Update time : 6767.577 us, Write time : 652.063 us + 14.80sWARNros2_control_nodeOverrun might occur, Total time : 7681.755 us (Expected < 1666.667 us) --> Read time : 262.115 us, Update time : 6767.577 us, Write time : 652.063 us[0m ×2 + 14.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780607083.56944728 seconds ×3 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6).[0m ×2 + 15.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607084.20273972 seconds. ×3 + 15.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 15.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.69sWARNcontroller_managerOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us + 15.69sWARNros2_control_nodeOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us[0m ×2 + 15.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607084.30292153 seconds ×3 + 16.21sWARNcontroller_managerOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us + 16.21sWARNros2_control_nodeOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us[0m ×2 + 16.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607084.88594651 seconds. ×3 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2).[0m ×2 + 16.40sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 16.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.41sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Received new action goal ×2 + 16.41sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Accepted new action goal ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3).[0m ×2 + 17.37sWARNcontroller_managerOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us + 17.38sWARNros2_control_nodeOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us[0m ×2 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3).[0m ×2 + 18.41sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607087.01612139 seconds ×3 + 18.44sWARNcontroller_managerOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us + 18.45sWARNros2_control_nodeOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 108 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955988 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955988 ms (missed cycles : 2).[0m ×2 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 1782.696 us (Expected < 1666.667 us) --> Read time : 253.505 us, Update time : 106.002 us, Write time : 1423.189 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1782.696 us (Expected < 1666.667 us) --> Read time : 253.505 us, Update time : 106.002 us, Write time : 1423.189 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892390 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892390 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 5307.987 us (Expected < 1666.667 us) --> Read time : 202.444 us, Update time : 4575.343 us, Write time : 530.200 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 5307.987 us (Expected < 1666.667 us) --> Read time : 202.444 us, Update time : 4575.343 us, Write time : 530.200 us[0m ×2 + 1.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.17sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.17sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.282087 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.282087 ms (missed cycles : 7).[0m ×2 + 2.18sWARNcontroller_managerOverrun might occur, Total time : 2062.181 us (Expected < 1666.667 us) --> Read time : 312.756 us, Update time : 73.211 us, Write time : 1676.214 us + 2.18sWARNros2_control_nodeOverrun might occur, Total time : 2062.181 us (Expected < 1666.667 us) --> Read time : 312.756 us, Update time : 73.211 us, Write time : 1676.214 us[0m ×2 + 2.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.27sINFOros2_control_node[2026-06-04 21:05:38.861] [info] Received new action goal ×2 + 2.27sINFOros2_control_node[2026-06-04 21:05:38.861] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110698 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110698 ms (missed cycles : 2).[0m ×2 + 3.31sWARNcontroller_managerOverrun might occur, Total time : 1947.220 us (Expected < 1666.667 us) --> Read time : 202.574 us, Update time : 691.504 us, Write time : 1053.142 us + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 1947.220 us (Expected < 1666.667 us) --> Read time : 202.574 us, Update time : 691.504 us, Write time : 1053.142 us[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780607140.01701522 seconds ×3 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660985 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660985 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780607140.74896431 seconds. ×3 + 4.51sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.51sINFOfoxglove_bridgeRemoving channel 76 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 2228.725 us (Expected < 1666.667 us) --> Read time : 205.154 us, Update time : 1574.322 us, Write time : 449.249 us + 4.59sWARNros2_control_nodeOverrun might occur, Total time : 2228.725 us (Expected < 1666.667 us) --> Read time : 205.154 us, Update time : 1574.322 us, Write time : 449.249 us[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811847 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811847 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.44sINFOros2_control_node[2026-06-04 21:05:42.034] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-06-04 21:05:42.034] [info] Accepted new action goal ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 3447.950 us (Expected < 1666.667 us) --> Read time : 2844.028 us, Update time : 90.092 us, Write time : 513.830 us + 5.77sWARNros2_control_nodeOverrun might occur, Total time : 3447.950 us (Expected < 1666.667 us) --> Read time : 2844.028 us, Update time : 90.092 us, Write time : 513.830 us[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186495 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186495 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun might occur, Total time : 1832.697 us (Expected < 1666.667 us) --> Read time : 233.525 us, Update time : 145.533 us, Write time : 1453.639 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 1832.697 us (Expected < 1666.667 us) --> Read time : 233.525 us, Update time : 145.533 us, Write time : 1453.639 us[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.362597 ms (missed cycles : 7). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.362597 ms (missed cycles : 7).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075477 ms (missed cycles : 2). + 8.27sWARNcontroller_managerOverrun might occur, Total time : 1673.834 us (Expected < 1666.667 us) --> Read time : 172.554 us, Update time : 1110.572 us, Write time : 390.708 us + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075477 ms (missed cycles : 2).[0m ×2 + 8.28sWARNros2_control_nodeOverrun might occur, Total time : 1673.834 us (Expected < 1666.667 us) --> Read time : 172.554 us, Update time : 1110.572 us, Write time : 390.708 us[0m ×2 + 9.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.14sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.14sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.14sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.14sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.738511 ms (missed cycles : 8). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.738511 ms (missed cycles : 8).[0m ×2 + 9.48sWARNcontroller_managerOverrun might occur, Total time : 1815.617 us (Expected < 1666.667 us) --> Read time : 751.795 us, Update time : 104.802 us, Write time : 959.020 us + 9.48sWARNros2_control_nodeOverrun might occur, Total time : 1815.617 us (Expected < 1666.667 us) --> Read time : 751.795 us, Update time : 104.802 us, Write time : 959.020 us[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137878 ms (missed cycles : 5). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137878 ms (missed cycles : 5).[0m ×2 + 10.59sWARNcontroller_managerOverrun might occur, Total time : 1804.347 us (Expected < 1666.667 us) --> Read time : 829.027 us, Update time : 99.782 us, Write time : 875.538 us + 10.60sWARNros2_control_nodeOverrun might occur, Total time : 1804.347 us (Expected < 1666.667 us) --> Read time : 829.027 us, Update time : 99.782 us, Write time : 875.538 us[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043127 ms (missed cycles : 4). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043127 ms (missed cycles : 4).[0m ×2 + 11.51sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.52sINFOros2_control_node[2026-06-04 21:05:48.114] [info] Received new action goal ×2 + 11.52sINFOros2_control_node[2026-06-04 21:05:48.114] [info] Accepted new action goal ×2 + 11.68sWARNcontroller_managerOverrun might occur, Total time : 1934.639 us (Expected < 1666.667 us) --> Read time : 173.504 us, Update time : 798.846 us, Write time : 962.289 us + 11.68sWARNros2_control_nodeOverrun might occur, Total time : 1934.639 us (Expected < 1666.667 us) --> Read time : 173.504 us, Update time : 798.846 us, Write time : 962.289 us[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485571 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485571 ms (missed cycles : 3).[0m ×2 + 12.81sWARNcontroller_managerOverrun might occur, Total time : 1884.079 us (Expected < 1666.667 us) --> Read time : 164.144 us, Update time : 739.395 us, Write time : 980.540 us + 12.82sWARNros2_control_nodeOverrun might occur, Total time : 1884.079 us (Expected < 1666.667 us) --> Read time : 164.144 us, Update time : 739.395 us, Write time : 980.540 us[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280915 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280915 ms (missed cycles : 2).[0m ×2 + 13.91sWARNcontroller_managerOverrun might occur, Total time : 2271.756 us (Expected < 1666.667 us) --> Read time : 292.146 us, Update time : 1509.060 us, Write time : 470.550 us + 13.91sWARNros2_control_nodeOverrun might occur, Total time : 2271.756 us (Expected < 1666.667 us) --> Read time : 292.146 us, Update time : 1509.060 us, Write time : 470.550 us[0m ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718503 ms (missed cycles : 3). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718503 ms (missed cycles : 3).[0m ×2 + 15.13sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780607151.71918535 seconds ×3 + 15.43sWARNcontroller_managerOverrun might occur, Total time : 2367.968 us (Expected < 1666.667 us) --> Read time : 446.699 us, Update time : 1151.074 us, Write time : 770.195 us + 15.43sWARNros2_control_nodeOverrun might occur, Total time : 2367.968 us (Expected < 1666.667 us) --> Read time : 446.699 us, Update time : 1151.074 us, Write time : 770.195 us[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188574 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188574 ms (missed cycles : 2).[0m ×2 + 15.75sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607152.33767009 seconds. ×3 + 15.92sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 15.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.92sINFOros2_control_node[2026-06-04 21:05:52.512] [info] Received new action goal ×2 + 15.92sINFOros2_control_node[2026-06-04 21:05:52.512] [info] Accepted new action goal ×2 + 16.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 16.12sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m ×2 + 16.43sWARNcontroller_managerOverrun might occur, Total time : 2839.658 us (Expected < 1666.667 us) --> Read time : 298.086 us, Update time : 1514.821 us, Write time : 1026.751 us + 16.43sWARNros2_control_nodeOverrun might occur, Total time : 2839.658 us (Expected < 1666.667 us) --> Read time : 298.086 us, Update time : 1514.821 us, Write time : 1026.751 us[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658822 ms (missed cycles : 3). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658822 ms (missed cycles : 3).[0m ×2 + 17.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.48sWARNcontroller_managerOverrun might occur, Total time : 1775.776 us (Expected < 1666.667 us) --> Read time : 257.635 us, Update time : 897.099 us, Write time : 621.042 us + 17.48sWARNros2_control_nodeOverrun might occur, Total time : 1775.776 us (Expected < 1666.667 us) --> Read time : 257.635 us, Update time : 897.099 us, Write time : 621.042 us[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415917 ms (missed cycles : 4). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415917 ms (missed cycles : 4).[0m ×2 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791313 ms (missed cycles : 2). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791313 ms (missed cycles : 2).[0m ×2 + 18.59sWARNcontroller_managerOverrun might occur, Total time : 3808.267 us (Expected < 1666.667 us) --> Read time : 225.464 us, Update time : 2914.439 us, Write time : 668.364 us + 18.59sWARNros2_control_nodeOverrun might occur, Total time : 3808.267 us (Expected < 1666.667 us) --> Read time : 225.464 us, Update time : 2914.439 us, Write time : 668.364 us[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 102 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×14 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.19sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.20sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.97sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 4.99sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.05sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.51sINFOros2_control_node[2026-06-04 21:03:22.391] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-06-04 21:03:22.391] [info] Accepted new action goal ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947808 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947808 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun might occur, Total time : 2593.373 us (Expected < 1666.667 us) --> Read time : 263.855 us, Update time : 101.982 us, Write time : 2227.536 us + 7.15sWARNros2_control_nodeOverrun might occur, Total time : 2593.373 us (Expected < 1666.667 us) --> Read time : 263.855 us, Update time : 101.982 us, Write time : 2227.536 us[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.278369 ms (missed cycles : 7). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.278369 ms (missed cycles : 7).[0m ×2 + 8.24sWARNcontroller_managerOverrun might occur, Total time : 6963.592 us (Expected < 1666.667 us) --> Read time : 200.424 us, Update time : 6162.096 us, Write time : 601.072 us + 8.24sWARNros2_control_nodeOverrun might occur, Total time : 6963.592 us (Expected < 1666.667 us) --> Read time : 200.424 us, Update time : 6162.096 us, Write time : 601.072 us[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751731 ms (missed cycles : 2). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751731 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun might occur, Total time : 3770.237 us (Expected < 1666.667 us) --> Read time : 756.635 us, Update time : 76.092 us, Write time : 2937.510 us + 9.42sWARNros2_control_nodeOverrun might occur, Total time : 3770.237 us (Expected < 1666.667 us) --> Read time : 756.635 us, Update time : 76.092 us, Write time : 2937.510 us[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335311 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335311 ms (missed cycles : 2).[0m ×2 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 10.24sINFOros2_control_node[2026-06-04 21:03:26.121] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-06-04 21:03:26.121] [info] Accepted new action goal ×2 + 10.61sWARNcontroller_managerOverrun might occur, Total time : 2350.268 us (Expected < 1666.667 us) --> Read time : 237.994 us, Update time : 119.653 us, Write time : 1992.621 us + 10.61sWARNros2_control_nodeOverrun might occur, Total time : 2350.268 us (Expected < 1666.667 us) --> Read time : 237.994 us, Update time : 119.653 us, Write time : 1992.621 us[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702038 ms (missed cycles : 6). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702038 ms (missed cycles : 6).[0m ×2 + 11.64sWARNcontroller_managerOverrun might occur, Total time : 4739.086 us (Expected < 1666.667 us) --> Read time : 326.306 us, Update time : 81.592 us, Write time : 4331.188 us + 11.64sWARNros2_control_nodeOverrun might occur, Total time : 4739.086 us (Expected < 1666.667 us) --> Read time : 326.306 us, Update time : 81.592 us, Write time : 4331.188 us[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3).[0m ×2 + 12.98sWARNcontroller_managerOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us + 12.98sWARNros2_control_nodeOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5).[0m ×2 + 13.54sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 13.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.55sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Received new action goal ×2 + 13.55sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Accepted new action goal ×2 + 14.06sWARNcontroller_managerOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us + 14.06sWARNros2_control_nodeOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us[0m ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7).[0m ×2 + 14.33sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Got request to cancel active goal. ×2 + 14.33sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Canceling active goal... ×2 + 14.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607010.24073005 seconds ×3 + 14.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607010.82345629 seconds. ×3 + 15.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607010.94360495 seconds ×3 + 15.13sWARNcontroller_managerOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us + 15.14sWARNros2_control_nodeOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8).[0m ×2 + 15.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607011.58881593 seconds. ×3 + 15.82sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 15.83sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 16.18sWARNcontroller_managerOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us + 16.18sWARNros2_control_nodeOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6).[0m ×2 + 16.86sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 16.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.87sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Received new action goal ×2 + 16.87sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Accepted new action goal ×2 + 17.25sWARNcontroller_managerOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us + 17.27sWARNros2_control_nodeOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us[0m ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 99 warnings · 107 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7).[0m ×2 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607038.03421307 seconds ×3 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 2.58sWARNcontroller_managerOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607038.62548828 seconds. ×3 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607038.69563842 seconds ×3 + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607039.31491566 seconds. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Accepted new action goal ×2 + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393957 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393957 ms (missed cycles : 2).[0m ×2 + 7.08sWARNcontroller_managerOverrun might occur, Total time : 2134.553 us (Expected < 1666.667 us) --> Read time : 174.974 us, Update time : 184.514 us, Write time : 1775.065 us + 7.08sWARNros2_control_nodeOverrun might occur, Total time : 2134.553 us (Expected < 1666.667 us) --> Read time : 174.974 us, Update time : 184.514 us, Write time : 1775.065 us[0m ×2 + 7.27sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 7.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.28sINFOros2_control_node[2026-06-04 21:04:02.819] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-06-04 21:04:02.819] [info] Accepted new action goal ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278075 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278075 ms (missed cycles : 2).[0m ×2 + 8.17sWARNcontroller_managerOverrun might occur, Total time : 1771.915 us (Expected < 1666.667 us) --> Read time : 128.892 us, Update time : 69.852 us, Write time : 1573.171 us + 8.18sWARNros2_control_nodeOverrun might occur, Total time : 1771.915 us (Expected < 1666.667 us) --> Read time : 128.892 us, Update time : 69.852 us, Write time : 1573.171 us[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785454 ms (missed cycles : 5). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785454 ms (missed cycles : 5).[0m ×2 + 9.35sWARNcontroller_managerOverrun might occur, Total time : 3092.453 us (Expected < 1666.667 us) --> Read time : 250.655 us, Update time : 2328.617 us, Write time : 513.181 us + 9.35sWARNros2_control_nodeOverrun might occur, Total time : 3092.453 us (Expected < 1666.667 us) --> Read time : 250.655 us, Update time : 2328.617 us, Write time : 513.181 us[0m ×2 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 9.61sINFOros2_control_node[2026-06-04 21:04:05.146] [info] Received new action goal ×2 + 9.61sINFOros2_control_node[2026-06-04 21:04:05.146] [info] Accepted new action goal ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937276 ms (missed cycles : 5). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937276 ms (missed cycles : 5).[0m ×2 + 10.48sWARNcontroller_managerOverrun might occur, Total time : 2183.214 us (Expected < 1666.667 us) --> Read time : 175.524 us, Update time : 1568.761 us, Write time : 438.929 us + 10.48sWARNros2_control_nodeOverrun might occur, Total time : 2183.214 us (Expected < 1666.667 us) --> Read time : 175.524 us, Update time : 1568.761 us, Write time : 438.929 us[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 11.53sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 11.53sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 11.94sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 11.95sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 11.95sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 13.12sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 14.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 14.22sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 14.22sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 14.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 15.05sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 15.05sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 15.05sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 15.05sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 15.32sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 15.32sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 15.98sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.00sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 16.00sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 16.47sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 16.47sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 17.54sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 17.54sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 6 errors · 96 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5332.408 us (Expected < 1666.667 us) --> Read time : 3781.037 us, Update time : 69.901 us, Write time : 1481.470 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5332.408 us (Expected < 1666.667 us) --> Read time : 3781.037 us, Update time : 69.901 us, Write time : 1481.470 us[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.507949 ms (missed cycles : 7). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.507949 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.656350 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.656350 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun might occur, Total time : 5018.281 us (Expected < 1666.667 us) --> Read time : 211.284 us, Update time : 4211.535 us, Write time : 595.462 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 5018.281 us (Expected < 1666.667 us) --> Read time : 211.284 us, Update time : 4211.535 us, Write time : 595.462 us[0m ×2 + 1.76sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 1.76sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932582 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932582 ms (missed cycles : 2).[0m ×2 + 2.27sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 2.27sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 4425.019 us (Expected < 1666.667 us) --> Read time : 234.765 us, Update time : 43.510 us, Write time : 4146.744 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 4425.019 us (Expected < 1666.667 us) --> Read time : 234.765 us, Update time : 43.510 us, Write time : 4146.744 us[0m ×2 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780607060.72171259 seconds ×3 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.15% of iterations over budget over 1:10.005 of wall time (247/21562). Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288579 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288579 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780607061.29394603 seconds. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 1704.894 us (Expected < 1666.667 us) --> Read time : 315.666 us, Update time : 454.210 us, Write time : 935.018 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 1704.894 us (Expected < 1666.667 us) --> Read time : 315.666 us, Update time : 454.210 us, Write time : 935.018 us[0m ×2 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-06-04 21:04:21.517] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-06-04 21:04:21.517] [info] Accepted new action goal ×2 + 3.78sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.78sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796342 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796342 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 6155.305 us (Expected < 1666.667 us) --> Read time : 232.115 us, Update time : 5400.529 us, Write time : 522.661 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 6155.305 us (Expected < 1666.667 us) --> Read time : 232.115 us, Update time : 5400.529 us, Write time : 522.661 us[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591271 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591271 ms (missed cycles : 4).[0m ×2 + 5.64sWARNcontroller_managerOverrun might occur, Total time : 4964.820 us (Expected < 1666.667 us) --> Read time : 157.483 us, Update time : 4266.176 us, Write time : 541.161 us + 5.65sWARNros2_control_nodeOverrun might occur, Total time : 4964.820 us (Expected < 1666.667 us) --> Read time : 157.483 us, Update time : 4266.176 us, Write time : 541.161 us[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810642 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810642 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun might occur, Total time : 3600.023 us (Expected < 1666.667 us) --> Read time : 216.605 us, Update time : 45.541 us, Write time : 3337.877 us + 6.72sWARNros2_control_nodeOverrun might occur, Total time : 3600.023 us (Expected < 1666.667 us) --> Read time : 216.605 us, Update time : 45.541 us, Write time : 3337.877 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369267 ms (missed cycles : 6). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369267 ms (missed cycles : 6).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985368 ms (missed cycles : 5). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985368 ms (missed cycles : 5).[0m ×2 + 8.64sWARNcontroller_managerOverrun might occur, Total time : 1981.530 us (Expected < 1666.667 us) --> Read time : 203.754 us, Update time : 1352.157 us, Write time : 425.619 us + 8.64sWARNros2_control_nodeOverrun might occur, Total time : 1981.530 us (Expected < 1666.667 us) --> Read time : 203.754 us, Update time : 1352.157 us, Write time : 425.619 us[0m ×2 + 8.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.85sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 8.97sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.03sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 9.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.13sINFOobjective_server_nodeFound path in 1 iterations (0.00231055 s). ×2 + 9.21sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.24sINFOobjective_server_nodeFound path in 1 iterations (0.00423756 s). ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 9.33sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 9.33sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.365421 ms (missed cycles : 7). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.365421 ms (missed cycles : 7).[0m ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.47sINFOros2_control_node[2026-06-04 21:04:27.371] [info] Received new action goal ×2 + 9.47sINFOros2_control_node[2026-06-04 21:04:27.371] [info] Accepted new action goal ×2 + 9.66sWARNcontroller_managerOverrun might occur, Total time : 1997.991 us (Expected < 1666.667 us) --> Read time : 168.264 us, Update time : 1384.578 us, Write time : 445.149 us + 9.66sWARNros2_control_nodeOverrun might occur, Total time : 1997.991 us (Expected < 1666.667 us) --> Read time : 168.264 us, Update time : 1384.578 us, Write time : 445.149 us[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139109 ms (missed cycles : 6). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139109 ms (missed cycles : 6).[0m ×2 + 10.70sWARNcontroller_managerOverrun might occur, Total time : 1868.488 us (Expected < 1666.667 us) --> Read time : 234.494 us, Update time : 85.422 us, Write time : 1548.572 us + 10.70sWARNros2_control_nodeOverrun might occur, Total time : 1868.488 us (Expected < 1666.667 us) --> Read time : 234.494 us, Update time : 85.422 us, Write time : 1548.572 us[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672442 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672442 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun might occur, Total time : 2048.091 us (Expected < 1666.667 us) --> Read time : 276.785 us, Update time : 462.940 us, Write time : 1308.366 us + 11.74sWARNros2_control_nodeOverrun might occur, Total time : 2048.091 us (Expected < 1666.667 us) --> Read time : 276.785 us, Update time : 462.940 us, Write time : 1308.366 us[0m ×2 + 12.23sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.24sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 12.24sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.25sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 12.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.32sINFOobjective_server_nodeFound path in 1 iterations (0.00264957 s). ×2 + 12.42sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 12.46sINFOros2_control_node[2026-06-04 21:04:30.360] [info] Received new action goal ×2 + 12.46sINFOros2_control_node[2026-06-04 21:04:30.360] [info] Accepted new action goal ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.049030 ms (missed cycles : 8). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.049030 ms (missed cycles : 8).[0m ×2 + 12.77sWARNcontroller_managerOverrun might occur, Total time : 1861.708 us (Expected < 1666.667 us) --> Read time : 223.025 us, Update time : 81.862 us, Write time : 1556.821 us + 12.78sWARNros2_control_nodeOverrun might occur, Total time : 1861.708 us (Expected < 1666.667 us) --> Read time : 223.025 us, Update time : 81.862 us, Write time : 1556.821 us[0m ×2 + 12.90sINFOros2_control_node[2026-06-04 21:04:30.804] [info] Received new action goal ×2 + 12.90sINFOros2_control_node[2026-06-04 21:04:30.804] [info] Accepted new action goal ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563270 ms (missed cycles : 4). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563270 ms (missed cycles : 4).[0m ×2 + 13.81sINFOros2_control_node[2026-06-04 21:04:31.714] [info] Got request to cancel active goal. ×2 + 13.81sINFOros2_control_node[2026-06-04 21:04:31.714] [info] Canceling active goal... ×2 + 13.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780607071.73574352 seconds ×3 + 14.15sWARNcontroller_managerOverrun might occur, Total time : 3176.475 us (Expected < 1666.667 us) --> Read time : 371.898 us, Update time : 2315.037 us, Write time : 489.540 us + 14.16sWARNros2_control_nodeOverrun might occur, Total time : 3176.475 us (Expected < 1666.667 us) --> Read time : 371.898 us, Update time : 2315.037 us, Write time : 489.540 us[0m ×2 + 14.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780607072.35221934 seconds. ×3 + 14.63sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 14.63sINFOros2_control_node[2026-06-04 21:04:32.536] [info] Received new action goal ×2 + 14.63sINFOros2_control_node[2026-06-04 21:04:32.536] [info] Accepted new action goal ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856135 ms (missed cycles : 5). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856135 ms (missed cycles : 5).[0m ×2 + 14.94sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.94sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.94sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.94sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.35sWARNcontroller_managerOverrun might occur, Total time : 1806.577 us (Expected < 1666.667 us) --> Read time : 510.781 us, Update time : 902.188 us, Write time : 393.608 us + 15.35sWARNros2_control_nodeOverrun might occur, Total time : 1806.577 us (Expected < 1666.667 us) --> Read time : 510.781 us, Update time : 902.188 us, Write time : 393.608 us[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932735 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932735 ms (missed cycles : 2).[0m ×2 + 16.41sWARNcontroller_managerOverrun might occur, Total time : 5064.601 us (Expected < 1666.667 us) --> Read time : 251.445 us, Update time : 4263.915 us, Write time : 549.241 us + 16.42sWARNros2_control_nodeOverrun might occur, Total time : 5064.601 us (Expected < 1666.667 us) --> Read time : 251.445 us, Update time : 4263.915 us, Write time : 549.241 us[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313206 ms (missed cycles : 4). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313206 ms (missed cycles : 4).[0m ×2 + 17.10sINFOros2_control_node[2026-06-04 21:04:35.006] [info] Received new action goal ×2 + 17.10sINFOros2_control_node[2026-06-04 21:04:35.006] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 6 errors · 99 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575738 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575738 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun might occur, Total time : 7247.696 us (Expected < 1666.667 us) --> Read time : 6763.936 us, Update time : 68.582 us, Write time : 415.178 us + 7.72sWARNros2_control_nodeOverrun might occur, Total time : 7247.696 us (Expected < 1666.667 us) --> Read time : 6763.936 us, Update time : 68.582 us, Write time : 415.178 us[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895691 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895691 ms (missed cycles : 2).[0m ×2 + 8.96sWARNcontroller_managerOverrun might occur, Total time : 6638.414 us (Expected < 1666.667 us) --> Read time : 189.764 us, Update time : 5722.245 us, Write time : 726.405 us + 8.96sWARNros2_control_nodeOverrun might occur, Total time : 6638.414 us (Expected < 1666.667 us) --> Read time : 189.764 us, Update time : 5722.245 us, Write time : 726.405 us[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166442 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166442 ms (missed cycles : 3).[0m ×2 + 10.17sWARNcontroller_managerOverrun might occur, Total time : 1942.039 us (Expected < 1666.667 us) --> Read time : 312.006 us, Update time : 72.552 us, Write time : 1557.481 us + 10.17sWARNros2_control_nodeOverrun might occur, Total time : 1942.039 us (Expected < 1666.667 us) --> Read time : 312.006 us, Update time : 72.552 us, Write time : 1557.481 us[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308124 ms (missed cycles : 4). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308124 ms (missed cycles : 4).[0m ×2 + 11.34sWARNcontroller_managerOverrun might occur, Total time : 5332.408 us (Expected < 1666.667 us) --> Read time : 3781.037 us, Update time : 69.901 us, Write time : 1481.470 us + 11.35sWARNros2_control_nodeOverrun might occur, Total time : 5332.408 us (Expected < 1666.667 us) --> Read time : 3781.037 us, Update time : 69.901 us, Write time : 1481.470 us[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.507949 ms (missed cycles : 7). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.507949 ms (missed cycles : 7).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.656350 ms (missed cycles : 6). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.656350 ms (missed cycles : 6).[0m ×2 + 12.43sWARNcontroller_managerOverrun might occur, Total time : 5018.281 us (Expected < 1666.667 us) --> Read time : 211.284 us, Update time : 4211.535 us, Write time : 595.462 us + 12.43sWARNros2_control_nodeOverrun might occur, Total time : 5018.281 us (Expected < 1666.667 us) --> Read time : 211.284 us, Update time : 4211.535 us, Write time : 595.462 us[0m ×2 + 13.10sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 13.10sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932582 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932582 ms (missed cycles : 2).[0m ×2 + 13.61sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 13.61sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 13.78sWARNcontroller_managerOverrun might occur, Total time : 4425.019 us (Expected < 1666.667 us) --> Read time : 234.765 us, Update time : 43.510 us, Write time : 4146.744 us + 13.79sWARNros2_control_nodeOverrun might occur, Total time : 4425.019 us (Expected < 1666.667 us) --> Read time : 234.765 us, Update time : 43.510 us, Write time : 4146.744 us[0m ×2 + 14.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780607060.72171259 seconds ×3 + 14.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.15% of iterations over budget over 1:10.005 of wall time (247/21562). Consistently above 1% means the model timestep should be raised.[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288579 ms (missed cycles : 4). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288579 ms (missed cycles : 4).[0m ×2 + 14.73sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780607061.29394603 seconds. ×3 + 14.83sWARNcontroller_managerOverrun might occur, Total time : 1704.894 us (Expected < 1666.667 us) --> Read time : 315.666 us, Update time : 454.210 us, Write time : 935.018 us + 14.83sWARNros2_control_nodeOverrun might occur, Total time : 1704.894 us (Expected < 1666.667 us) --> Read time : 315.666 us, Update time : 454.210 us, Write time : 935.018 us[0m ×2 + 14.94sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 14.96sINFOros2_control_node[2026-06-04 21:04:21.517] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-06-04 21:04:21.517] [info] Accepted new action goal ×2 + 15.12sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.12sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796342 ms (missed cycles : 5). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796342 ms (missed cycles : 5).[0m ×2 + 15.83sWARNcontroller_managerOverrun might occur, Total time : 6155.305 us (Expected < 1666.667 us) --> Read time : 232.115 us, Update time : 5400.529 us, Write time : 522.661 us + 15.84sWARNros2_control_nodeOverrun might occur, Total time : 6155.305 us (Expected < 1666.667 us) --> Read time : 232.115 us, Update time : 5400.529 us, Write time : 522.661 us[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591271 ms (missed cycles : 4). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591271 ms (missed cycles : 4).[0m ×2 + 16.99sWARNcontroller_managerOverrun might occur, Total time : 4964.820 us (Expected < 1666.667 us) --> Read time : 157.483 us, Update time : 4266.176 us, Write time : 541.161 us + 16.99sWARNros2_control_nodeOverrun might occur, Total time : 4964.820 us (Expected < 1666.667 us) --> Read time : 157.483 us, Update time : 4266.176 us, Write time : 541.161 us[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810642 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810642 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 99 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1848.609 us (Expected < 1666.667 us) --> Read time : 222.635 us, Update time : 104.182 us, Write time : 1521.792 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1848.609 us (Expected < 1666.667 us) --> Read time : 222.635 us, Update time : 104.182 us, Write time : 1521.792 us[0m ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784704 ms (missed cycles : 5). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784704 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.491082 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.491082 ms (missed cycles : 7).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 5106.109 us (Expected < 1666.667 us) --> Read time : 200.864 us, Update time : 4374.754 us, Write time : 530.491 us + 1.19sWARNros2_control_nodeOverrun might occur, Total time : 5106.109 us (Expected < 1666.667 us) --> Read time : 200.864 us, Update time : 4374.754 us, Write time : 530.491 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673499 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673499 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun might occur, Total time : 11706.481 us (Expected < 1666.667 us) --> Read time : 190.225 us, Update time : 11019.595 us, Write time : 496.661 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 11706.481 us (Expected < 1666.667 us) --> Read time : 190.225 us, Update time : 11019.595 us, Write time : 496.661 us[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780607307.64731407 seconds ×3 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689465 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689465 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 1772.578 us (Expected < 1666.667 us) --> Read time : 772.457 us, Update time : 97.002 us, Write time : 903.119 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 1772.578 us (Expected < 1666.667 us) --> Read time : 772.457 us, Update time : 97.002 us, Write time : 903.119 us[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780607308.25863957 seconds. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-06-04 21:08:28.423] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-06-04 21:08:28.423] [info] Accepted new action goal ×2 + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution" + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.444069 ms (missed cycles : 7). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.444069 ms (missed cycles : 7).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 1956.860 us (Expected < 1666.667 us) --> Read time : 215.634 us, Update time : 1249.756 us, Write time : 491.470 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 1956.860 us (Expected < 1666.667 us) --> Read time : 215.634 us, Update time : 1249.756 us, Write time : 491.470 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197343 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197343 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun might occur, Total time : 6646.385 us (Expected < 1666.667 us) --> Read time : 190.683 us, Update time : 159.394 us, Write time : 6296.308 us + 5.79sWARNros2_control_nodeOverrun might occur, Total time : 6646.385 us (Expected < 1666.667 us) --> Read time : 190.683 us, Update time : 159.394 us, Write time : 6296.308 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652955 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652955 ms (missed cycles : 3).[0m ×2 + 7.14sWARNcontroller_managerOverrun might occur, Total time : 3423.519 us (Expected < 1666.667 us) --> Read time : 210.284 us, Update time : 2668.174 us, Write time : 545.061 us + 7.14sWARNros2_control_nodeOverrun might occur, Total time : 3423.519 us (Expected < 1666.667 us) --> Read time : 210.284 us, Update time : 2668.174 us, Write time : 545.061 us[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242728 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242728 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun might occur, Total time : 3250.646 us (Expected < 1666.667 us) --> Read time : 611.382 us, Update time : 436.969 us, Write time : 2202.295 us + 8.31sWARNros2_control_nodeOverrun might occur, Total time : 3250.646 us (Expected < 1666.667 us) --> Read time : 611.382 us, Update time : 436.969 us, Write time : 2202.295 us[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.466513 ms (missed cycles : 7). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.466513 ms (missed cycles : 7).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.273461 ms (missed cycles : 7). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.273461 ms (missed cycles : 7).[0m ×2 + 9.63sWARNcontroller_managerOverrun might occur, Total time : 6527.991 us (Expected < 1666.667 us) --> Read time : 211.794 us, Update time : 5696.295 us, Write time : 619.902 us + 9.63sWARNros2_control_nodeOverrun might occur, Total time : 6527.991 us (Expected < 1666.667 us) --> Read time : 211.794 us, Update time : 5696.295 us, Write time : 619.902 us[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4).[0m ×2 + 11.31sWARNcontroller_managerOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us + 11.31sWARNros2_control_nodeOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 12.48sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 12.48sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 13.65sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 13.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 14.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 14.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 14.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 14.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.62sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 14.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.62sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 14.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 14.95sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.95sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.15sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 15.15sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 15.23sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 15.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 16.03sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 16.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.05sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 16.05sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 16.20sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 16.20sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 17.27sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 17.28sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 93 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4884.443 us (Expected < 1666.667 us) --> Read time : 290.716 us, Update time : 3984.334 us, Write time : 609.393 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4884.443 us (Expected < 1666.667 us) --> Read time : 290.716 us, Update time : 3984.334 us, Write time : 609.393 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456036 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456036 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 1996.002 us (Expected < 1666.667 us) --> Read time : 332.407 us, Update time : 88.672 us, Write time : 1574.923 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 1996.002 us (Expected < 1666.667 us) --> Read time : 332.407 us, Update time : 88.672 us, Write time : 1574.923 us[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248725 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248725 ms (missed cycles : 3).[0m ×2 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 4811.022 us (Expected < 1666.667 us) --> Read time : 291.236 us, Update time : 3972.295 us, Write time : 547.491 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 4811.022 us (Expected < 1666.667 us) --> Read time : 291.236 us, Update time : 3972.295 us, Write time : 547.491 us[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128002 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780607275.36335826 seconds ×3 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998373 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998373 ms (missed cycles : 2).[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2301.339 us (Expected < 1666.667 us) --> Read time : 255.205 us, Update time : 75.392 us, Write time : 1970.742 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2301.339 us (Expected < 1666.667 us) --> Read time : 255.205 us, Update time : 75.392 us, Write time : 1970.742 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780607276.17310500 seconds. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-06-04 21:07:56.367] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-06-04 21:07:56.367] [info] Accepted new action goal ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.13sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.13sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 4.13sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.13sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678881 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678881 ms (missed cycles : 4).[0m ×2 + 4.62sWARNcontroller_managerOverrun might occur, Total time : 4511.937 us (Expected < 1666.667 us) --> Read time : 360.538 us, Update time : 98.332 us, Write time : 4053.067 us + 4.62sWARNros2_control_nodeOverrun might occur, Total time : 4511.937 us (Expected < 1666.667 us) --> Read time : 360.538 us, Update time : 98.332 us, Write time : 4053.067 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793240 ms (missed cycles : 6). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793240 ms (missed cycles : 6).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 2417.092 us (Expected < 1666.667 us) --> Read time : 173.884 us, Update time : 1808.399 us, Write time : 434.809 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 2417.092 us (Expected < 1666.667 us) --> Read time : 173.884 us, Update time : 1808.399 us, Write time : 434.809 us[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455520 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455520 ms (missed cycles : 4).[0m ×2 + 7.15sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/pcd_pointcloud_captures" + 7.16sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/pcd_pointcloud_captures"[0m ×2 + 7.36sWARNcontroller_managerOverrun might occur, Total time : 6758.364 us (Expected < 1666.667 us) --> Read time : 309.247 us, Update time : 5875.944 us, Write time : 573.173 us + 7.37sWARNros2_control_nodeOverrun might occur, Total time : 6758.364 us (Expected < 1666.667 us) --> Read time : 309.247 us, Update time : 5875.944 us, Write time : 573.173 us[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934182 ms (missed cycles : 2). + 7.67sINFOfoxglove_bridgeRemoving channel 83 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934182 ms (missed cycles : 2).[0m ×2 + 7.67sINFOfoxglove_bridgeRemoving channel 83 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 8.49sWARNcontroller_managerOverrun might occur, Total time : 5152.440 us (Expected < 1666.667 us) --> Read time : 207.755 us, Update time : 4345.792 us, Write time : 598.893 us + 8.49sWARNros2_control_nodeOverrun might occur, Total time : 5152.440 us (Expected < 1666.667 us) --> Read time : 207.755 us, Update time : 4345.792 us, Write time : 598.893 us[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997005 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997005 ms (missed cycles : 2).[0m ×2 + 9.24sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.24sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.25sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×4 + 9.53sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.60sINFOobjective_server_nodeFound path in 1 iterations (0.00334034 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.69sWARNcontroller_managerOverrun might occur, Total time : 1911.610 us (Expected < 1666.667 us) --> Read time : 188.284 us, Update time : 1308.648 us, Write time : 414.678 us + 9.69sWARNros2_control_nodeOverrun might occur, Total time : 1911.610 us (Expected < 1666.667 us) --> Read time : 188.284 us, Update time : 1308.648 us, Write time : 414.678 us[0m ×2 + 9.70sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.70sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/solution" + 9.70sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/solution"[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470995 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470995 ms (missed cycles : 2).[0m ×2 + 9.74sINFOros2_control_node[2026-06-04 21:08:02.214] [info] Received new action goal ×2 + 9.74sINFOros2_control_node[2026-06-04 21:08:02.214] [info] Accepted new action goal ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 10.95sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 10.95sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 11.98sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 11.98sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 12.26sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 12.26sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 13.20sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 13.20sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 13.84sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.84sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 13.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 14.50sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 14.54sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 14.55sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 14.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.71sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 14.79sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.79sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.79sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.79sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 15.73sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 15.74sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 16.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.8s | 6 errors · 93 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 1850.349 us (Expected < 1666.667 us) --> Read time : 762.526 us, Update time : 71.732 us, Write time : 1016.091 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 1850.349 us (Expected < 1666.667 us) --> Read time : 762.526 us, Update time : 71.732 us, Write time : 1016.091 us[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009110 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009110 ms (missed cycles : 3).[0m ×2 + 7.86sWARNcontroller_managerOverrun might occur, Total time : 2235.308 us (Expected < 1666.667 us) --> Read time : 318.877 us, Update time : 67.901 us, Write time : 1848.530 us + 7.86sWARNros2_control_nodeOverrun might occur, Total time : 2235.308 us (Expected < 1666.667 us) --> Read time : 318.877 us, Update time : 67.901 us, Write time : 1848.530 us[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358399 ms (missed cycles : 4). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358399 ms (missed cycles : 4).[0m ×2 + 9.06sWARNcontroller_managerOverrun might occur, Total time : 1927.452 us (Expected < 1666.667 us) --> Read time : 212.525 us, Update time : 75.151 us, Write time : 1639.776 us + 9.06sWARNros2_control_nodeOverrun might occur, Total time : 1927.452 us (Expected < 1666.667 us) --> Read time : 212.525 us, Update time : 75.151 us, Write time : 1639.776 us[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032987 ms (missed cycles : 5). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.032987 ms (missed cycles : 5).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.294596 ms (missed cycles : 7). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.294596 ms (missed cycles : 7).[0m ×2 + 10.27sWARNcontroller_managerOverrun might occur, Total time : 2882.712 us (Expected < 1666.667 us) --> Read time : 273.126 us, Update time : 55.831 us, Write time : 2553.755 us + 10.27sWARNros2_control_nodeOverrun might occur, Total time : 2882.712 us (Expected < 1666.667 us) --> Read time : 273.126 us, Update time : 55.831 us, Write time : 2553.755 us[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686167 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686167 ms (missed cycles : 3).[0m ×2 + 11.39sWARNcontroller_managerOverrun might occur, Total time : 1983.402 us (Expected < 1666.667 us) --> Read time : 1552.363 us, Update time : 55.501 us, Write time : 375.538 us + 11.39sWARNros2_control_nodeOverrun might occur, Total time : 1983.402 us (Expected < 1666.667 us) --> Read time : 1552.363 us, Update time : 55.501 us, Write time : 375.538 us[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319920 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319920 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun might occur, Total time : 2211.207 us (Expected < 1666.667 us) --> Read time : 236.305 us, Update time : 71.312 us, Write time : 1903.590 us + 12.61sWARNros2_control_nodeOverrun might occur, Total time : 2211.207 us (Expected < 1666.667 us) --> Read time : 236.305 us, Update time : 71.312 us, Write time : 1903.590 us[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709025 ms (missed cycles : 4). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709025 ms (missed cycles : 4).[0m ×2 + 13.81sWARNcontroller_managerOverrun might occur, Total time : 1947.271 us (Expected < 1666.667 us) --> Read time : 674.124 us, Update time : 72.032 us, Write time : 1201.115 us + 13.81sWARNros2_control_nodeOverrun might occur, Total time : 1947.271 us (Expected < 1666.667 us) --> Read time : 674.124 us, Update time : 72.032 us, Write time : 1201.115 us[0m ×2 + 13.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780607297.21169281 seconds ×3 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151416 ms (missed cycles : 2). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151416 ms (missed cycles : 2).[0m ×2 + 14.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780607297.77228546 seconds. ×3 + 14.62sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.62sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.78sINFOros2_control_node[2026-06-04 21:08:18.041] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-06-04 21:08:18.041] [info] Accepted new action goal ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000044 ms (missed cycles : 3). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000044 ms (missed cycles : 3).[0m ×2 + 15.44sWARNcontroller_managerOverrun might occur, Total time : 3403.222 us (Expected < 1666.667 us) --> Read time : 167.184 us, Update time : 2681.876 us, Write time : 554.162 us + 15.44sWARNros2_control_nodeOverrun might occur, Total time : 3403.222 us (Expected < 1666.667 us) --> Read time : 167.184 us, Update time : 2681.876 us, Write time : 554.162 us[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832924 ms (missed cycles : 6). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832924 ms (missed cycles : 6).[0m ×2 + 16.55sWARNcontroller_managerOverrun might occur, Total time : 1804.149 us (Expected < 1666.667 us) --> Read time : 224.075 us, Update time : 605.363 us, Write time : 974.711 us + 16.55sWARNros2_control_nodeOverrun might occur, Total time : 1804.149 us (Expected < 1666.667 us) --> Read time : 224.075 us, Update time : 605.363 us, Write time : 974.711 us[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.6s | 6 errors · 105 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 0.94sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 0.95sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 2.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 3.41sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.41sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 3.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 5.74sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6).[0m ×2 + 6.92sWARNcontroller_managerOverrun might occur, Total time : 10178.165 us (Expected < 1666.667 us) --> Read time : 296.476 us, Update time : 9286.217 us, Write time : 595.472 us + 6.93sWARNros2_control_nodeOverrun might occur, Total time : 10178.165 us (Expected < 1666.667 us) --> Read time : 296.476 us, Update time : 9286.217 us, Write time : 595.472 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616380 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616380 ms (missed cycles : 3).[0m ×2 + 7.83sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.84sINFOros2_control_node[2026-06-04 21:08:44.009] [info] Received new action goal ×2 + 7.84sINFOros2_control_node[2026-06-04 21:08:44.009] [info] Accepted new action goal ×2 + 7.84sINFOros2_control_node[2026-06-04 21:08:44.009] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451063 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451063 ms (missed cycles : 4).[0m ×2 + 8.29sWARNcontroller_managerOverrun might occur, Total time : 1775.356 us (Expected < 1666.667 us) --> Read time : 185.154 us, Update time : 1195.674 us, Write time : 394.528 us + 8.29sWARNros2_control_nodeOverrun might occur, Total time : 1775.356 us (Expected < 1666.667 us) --> Read time : 185.154 us, Update time : 1195.674 us, Write time : 394.528 us[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815998 ms (missed cycles : 6). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815998 ms (missed cycles : 6).[0m ×2 + 9.33sWARNcontroller_managerOverrun might occur, Total time : 5127.504 us (Expected < 1666.667 us) --> Read time : 247.165 us, Update time : 4323.407 us, Write time : 556.932 us + 9.34sWARNros2_control_nodeOverrun might occur, Total time : 5127.504 us (Expected < 1666.667 us) --> Read time : 247.165 us, Update time : 4323.407 us, Write time : 556.932 us[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867324 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867324 ms (missed cycles : 3).[0m ×2 + 10.70sWARNcontroller_managerOverrun might occur, Total time : 5263.616 us (Expected < 1666.667 us) --> Read time : 154.363 us, Update time : 4372.548 us, Write time : 736.705 us + 10.71sWARNros2_control_nodeOverrun might occur, Total time : 5263.616 us (Expected < 1666.667 us) --> Read time : 154.363 us, Update time : 4372.548 us, Write time : 736.705 us[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418985 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418985 ms (missed cycles : 2).[0m ×2 + 11.87sWARNcontroller_managerOverrun might occur, Total time : 1872.618 us (Expected < 1666.667 us) --> Read time : 747.725 us, Update time : 127.063 us, Write time : 997.830 us + 11.87sWARNros2_control_nodeOverrun might occur, Total time : 1872.618 us (Expected < 1666.667 us) --> Read time : 747.725 us, Update time : 127.063 us, Write time : 997.830 us[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us + 12.96sWARNros2_control_nodeOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4).[0m ×2 + 14.14sWARNcontroller_managerOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us + 14.15sWARNros2_control_nodeOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us[0m ×2 + 14.44sINFOros2_control_node[2026-06-04 21:08:50.612] [info] Got request to cancel active goal. ×2 + 14.44sINFOros2_control_node[2026-06-04 21:08:50.613] [info] Canceling active goal... ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2). + 14.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607330.62339807 seconds ×3 + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2).[0m ×2 + 15.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607331.22088289 seconds. ×3 + 15.21sWARNcontroller_managerOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us + 15.21sWARNros2_control_nodeOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7).[0m ×2 + 15.52sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event" + 15.52sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event"[0m ×2 + 16.02sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 16.02sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 16.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607332.21351266 seconds ×3 + 16.21sWARNcontroller_managerOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us + 16.21sWARNros2_control_nodeOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3).[0m ×2 + 16.52sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 16.53sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 16.61sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607332.78029275 seconds. ×3 + 16.61sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.61sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.61sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.61sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607332.78251600 seconds ×3 + 17.03sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 17.03sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 17.03sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 17.03sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 17.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607333.34302068 seconds. ×3 + 17.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607333.34359241 seconds ×3 + 17.27sWARNcontroller_managerOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us + 17.27sWARNros2_control_nodeOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us[0m ×2 + 17.53sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 17.53sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 94 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2882.712 us (Expected < 1666.667 us) --> Read time : 273.126 us, Update time : 55.831 us, Write time : 2553.755 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2882.712 us (Expected < 1666.667 us) --> Read time : 273.126 us, Update time : 55.831 us, Write time : 2553.755 us[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686167 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686167 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun might occur, Total time : 1983.402 us (Expected < 1666.667 us) --> Read time : 1552.363 us, Update time : 55.501 us, Write time : 375.538 us + 1.12sWARNros2_control_nodeOverrun might occur, Total time : 1983.402 us (Expected < 1666.667 us) --> Read time : 1552.363 us, Update time : 55.501 us, Write time : 375.538 us[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319920 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319920 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 2211.207 us (Expected < 1666.667 us) --> Read time : 236.305 us, Update time : 71.312 us, Write time : 1903.590 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 2211.207 us (Expected < 1666.667 us) --> Read time : 236.305 us, Update time : 71.312 us, Write time : 1903.590 us[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709025 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709025 ms (missed cycles : 4).[0m ×2 + 3.54sWARNcontroller_managerOverrun might occur, Total time : 1947.271 us (Expected < 1666.667 us) --> Read time : 674.124 us, Update time : 72.032 us, Write time : 1201.115 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 1947.271 us (Expected < 1666.667 us) --> Read time : 674.124 us, Update time : 72.032 us, Write time : 1201.115 us[0m ×2 + 3.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780607297.21169281 seconds ×3 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151416 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151416 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780607297.77228546 seconds. ×3 + 4.35sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.35sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.52sINFOros2_control_node[2026-06-04 21:08:18.041] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-04 21:08:18.041] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000044 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000044 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun might occur, Total time : 3403.222 us (Expected < 1666.667 us) --> Read time : 167.184 us, Update time : 2681.876 us, Write time : 554.162 us + 5.17sWARNros2_control_nodeOverrun might occur, Total time : 3403.222 us (Expected < 1666.667 us) --> Read time : 167.184 us, Update time : 2681.876 us, Write time : 554.162 us[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832924 ms (missed cycles : 6). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832924 ms (missed cycles : 6).[0m ×2 + 6.28sWARNcontroller_managerOverrun might occur, Total time : 1804.149 us (Expected < 1666.667 us) --> Read time : 224.075 us, Update time : 605.363 us, Write time : 974.711 us + 6.28sWARNros2_control_nodeOverrun might occur, Total time : 1804.149 us (Expected < 1666.667 us) --> Read time : 224.075 us, Update time : 605.363 us, Write time : 974.711 us[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336469 ms (missed cycles : 4). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336469 ms (missed cycles : 4).[0m ×2 + 7.38sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.45% of iterations over budget over 5:10.011 of wall time (1377/95127). Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.71sWARNcontroller_managerOverrun might occur, Total time : 5223.661 us (Expected < 1666.667 us) --> Read time : 299.087 us, Update time : 4346.442 us, Write time : 578.132 us + 7.71sWARNros2_control_nodeOverrun might occur, Total time : 5223.661 us (Expected < 1666.667 us) --> Read time : 299.087 us, Update time : 4346.442 us, Write time : 578.132 us[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214602 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214602 ms (missed cycles : 2).[0m ×2 + 8.54sINFOros2_control_node[2026-06-04 21:08:22.062] [info] Received new action goal ×2 + 8.54sINFOros2_control_node[2026-06-04 21:08:22.062] [info] Accepted new action goal ×2 + 8.93sWARNcontroller_managerOverrun might occur, Total time : 9951.603 us (Expected < 1666.667 us) --> Read time : 164.514 us, Update time : 9278.338 us, Write time : 508.751 us + 8.93sWARNros2_control_nodeOverrun might occur, Total time : 9951.603 us (Expected < 1666.667 us) --> Read time : 164.514 us, Update time : 9278.338 us, Write time : 508.751 us[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895466 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895466 ms (missed cycles : 3).[0m ×2 + 10.08sWARNcontroller_managerOverrun might occur, Total time : 8529.212 us (Expected < 1666.667 us) --> Read time : 203.905 us, Update time : 7663.073 us, Write time : 662.234 us + 10.08sWARNros2_control_nodeOverrun might occur, Total time : 8529.212 us (Expected < 1666.667 us) --> Read time : 203.905 us, Update time : 7663.073 us, Write time : 662.234 us[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859872 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859872 ms (missed cycles : 2).[0m ×2 + 11.11sWARNcontroller_managerOverrun might occur, Total time : 1848.609 us (Expected < 1666.667 us) --> Read time : 222.635 us, Update time : 104.182 us, Write time : 1521.792 us + 11.11sWARNros2_control_nodeOverrun might occur, Total time : 1848.609 us (Expected < 1666.667 us) --> Read time : 222.635 us, Update time : 104.182 us, Write time : 1521.792 us[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784704 ms (missed cycles : 5). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784704 ms (missed cycles : 5).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.491082 ms (missed cycles : 7). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.491082 ms (missed cycles : 7).[0m ×2 + 12.29sWARNcontroller_managerOverrun might occur, Total time : 5106.109 us (Expected < 1666.667 us) --> Read time : 200.864 us, Update time : 4374.754 us, Write time : 530.491 us + 12.30sWARNros2_control_nodeOverrun might occur, Total time : 5106.109 us (Expected < 1666.667 us) --> Read time : 200.864 us, Update time : 4374.754 us, Write time : 530.491 us[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673499 ms (missed cycles : 3). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673499 ms (missed cycles : 3).[0m ×2 + 13.46sWARNcontroller_managerOverrun might occur, Total time : 11706.481 us (Expected < 1666.667 us) --> Read time : 190.225 us, Update time : 11019.595 us, Write time : 496.661 us + 13.46sWARNros2_control_nodeOverrun might occur, Total time : 11706.481 us (Expected < 1666.667 us) --> Read time : 190.225 us, Update time : 11019.595 us, Write time : 496.661 us[0m ×2 + 14.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780607307.64731407 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689465 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689465 ms (missed cycles : 3).[0m ×2 + 14.61sWARNcontroller_managerOverrun might occur, Total time : 1772.578 us (Expected < 1666.667 us) --> Read time : 772.457 us, Update time : 97.002 us, Write time : 903.119 us + 14.61sWARNros2_control_nodeOverrun might occur, Total time : 1772.578 us (Expected < 1666.667 us) --> Read time : 772.457 us, Update time : 97.002 us, Write time : 903.119 us[0m ×2 + 14.73sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780607308.25863957 seconds. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.90sINFOros2_control_node[2026-06-04 21:08:28.423] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-06-04 21:08:28.423] [info] Accepted new action goal ×2 + 14.96sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution" + 14.96sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution"[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.444069 ms (missed cycles : 7). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.444069 ms (missed cycles : 7).[0m ×2 + 15.83sWARNcontroller_managerOverrun might occur, Total time : 1956.860 us (Expected < 1666.667 us) --> Read time : 215.634 us, Update time : 1249.756 us, Write time : 491.470 us + 15.83sWARNros2_control_nodeOverrun might occur, Total time : 1956.860 us (Expected < 1666.667 us) --> Read time : 215.634 us, Update time : 1249.756 us, Write time : 491.470 us[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197343 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197343 ms (missed cycles : 2).[0m ×2 + 16.80sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.90sWARNcontroller_managerOverrun might occur, Total time : 6646.385 us (Expected < 1666.667 us) --> Read time : 190.683 us, Update time : 159.394 us, Write time : 6296.308 us + 16.90sWARNros2_control_nodeOverrun might occur, Total time : 6646.385 us (Expected < 1666.667 us) --> Read time : 190.683 us, Update time : 159.394 us, Write time : 6296.308 us[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652955 ms (missed cycles : 3). | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.4s | 81 warnings · 145 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607084.20273972 seconds. ×3 + 0.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.64sWARNcontroller_managerOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us + 0.64sWARNros2_control_nodeOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607084.30292153 seconds ×3 + 1.16sWARNcontroller_managerOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us + 1.16sWARNros2_control_nodeOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607084.88594651 seconds. ×3 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.36sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607087.01612139 seconds ×3 + 3.39sWARNcontroller_managerOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607087.59054494 seconds. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.05sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Accepted new action goal ×2 + 4.32sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view" + 4.32sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593111 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593111 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 5006.702 us (Expected < 1666.667 us) --> Read time : 220.865 us, Update time : 4270.347 us, Write time : 515.490 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 5006.702 us (Expected < 1666.667 us) --> Read time : 220.865 us, Update time : 4270.347 us, Write time : 515.490 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021579 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021579 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 6722.547 us (Expected < 1666.667 us) --> Read time : 290.056 us, Update time : 5831.139 us, Write time : 601.352 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 6722.547 us (Expected < 1666.667 us) --> Read time : 290.056 us, Update time : 5831.139 us, Write time : 601.352 us[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886723 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886723 ms (missed cycles : 3).[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 1958.530 us (Expected < 1666.667 us) --> Read time : 134.803 us, Update time : 1376.168 us, Write time : 447.559 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 1958.530 us (Expected < 1666.667 us) --> Read time : 134.803 us, Update time : 1376.168 us, Write time : 447.559 us[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.845108 ms (missed cycles : 6). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.845108 ms (missed cycles : 6).[0m ×2 + 8.12sWARNcontroller_managerOverrun might occur, Total time : 1874.378 us (Expected < 1666.667 us) --> Read time : 787.506 us, Update time : 79.072 us, Write time : 1007.800 us + 8.13sWARNros2_control_nodeOverrun might occur, Total time : 1874.378 us (Expected < 1666.667 us) --> Read time : 787.506 us, Update time : 79.072 us, Write time : 1007.800 us[0m ×2 + 8.36sINFOobjective_server_node[0;93m2026-06-04 21:04:52.011797181 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.36sINFOobjective_server_node[0;93m2026-06-04 21:04:52.011830712 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129377 ms (missed cycles : 5). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129377 ms (missed cycles : 5).[0m ×2 + 8.90sINFOobjective_server_node[0;93m2026-06-04 21:04:52.556371510 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.90sINFOobjective_server_node[0;93m2026-06-04 21:04:52.556426001 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.05sINFOobjective_server_node[0;93m2026-06-04 21:04:52.701649786 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.05sINFOobjective_server_node[0;93m2026-06-04 21:04:52.704424852 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.05sINFOobjective_server_node[0;93m2026-06-04 21:04:52.704451942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.15sWARNcontroller_managerOverrun might occur, Total time : 1964.040 us (Expected < 1666.667 us) --> Read time : 866.478 us, Update time : 74.191 us, Write time : 1023.371 us + 9.16sWARNros2_control_nodeOverrun might occur, Total time : 1964.040 us (Expected < 1666.667 us) --> Read time : 866.478 us, Update time : 74.191 us, Write time : 1023.371 us[0m ×2 + 9.38sINFOobjective_server_node[0;93m2026-06-04 21:04:53.034740318 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.40sINFOobjective_server_node[0;93m2026-06-04 21:04:53.054949498 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.40sINFOobjective_server_node[0;93m2026-06-04 21:04:53.054993659 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919619 ms (missed cycles : 5). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919619 ms (missed cycles : 5).[0m ×2 + 10.16sWARNcontroller_managerOverrun might occur, Total time : 5145.824 us (Expected < 1666.667 us) --> Read time : 279.045 us, Update time : 4265.397 us, Write time : 601.382 us + 10.17sWARNros2_control_nodeOverrun might occur, Total time : 5145.824 us (Expected < 1666.667 us) --> Read time : 279.045 us, Update time : 4265.397 us, Write time : 601.382 us[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956282 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956282 ms (missed cycles : 2).[0m ×2 + 10.73sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607094.38374972 seconds ×3 + 10.88sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 10.88sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 11.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607095.00160980 seconds. ×3 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us + 11.56sWARNros2_control_nodeOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us[0m ×2 + 11.89sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 11.89sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 11.89sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 11.89sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 12.00sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653023358 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.00sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653066119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3).[0m ×2 + 12.56sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208239614 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.56sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208312565 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.69sINFOobjective_server_node[0;93m2026-06-04 21:04:56.339349301 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 12.69sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342087456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.69sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342128567 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.77sWARNcontroller_managerOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us + 12.77sWARNros2_control_nodeOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us[0m ×2 + 13.04sINFOobjective_server_node[0;93m2026-06-04 21:04:56.691613892 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.06sINFOobjective_server_node[0;93m2026-06-04 21:04:56.710994255 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.06sINFOobjective_server_node[0;93m2026-06-04 21:04:56.711044526 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6).[0m ×2 + 13.91sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 13.91sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 13.93sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607097.58359051 seconds ×3 + 14.03sWARNcontroller_managerOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us + 14.03sWARNros2_control_nodeOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.2s | 57 warnings · 98 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.845108 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.845108 ms (missed cycles : 6).[0m ×2 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 1874.378 us (Expected < 1666.667 us) --> Read time : 787.506 us, Update time : 79.072 us, Write time : 1007.800 us + 0.70sWARNros2_control_nodeOverrun might occur, Total time : 1874.378 us (Expected < 1666.667 us) --> Read time : 787.506 us, Update time : 79.072 us, Write time : 1007.800 us[0m ×2 + 0.93sINFOobjective_server_node[0;93m2026-06-04 21:04:52.011797181 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.93sINFOobjective_server_node[0;93m2026-06-04 21:04:52.011830712 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129377 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129377 ms (missed cycles : 5).[0m ×2 + 1.48sINFOobjective_server_node[0;93m2026-06-04 21:04:52.556371510 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.48sINFOobjective_server_node[0;93m2026-06-04 21:04:52.556426001 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.62sINFOobjective_server_node[0;93m2026-06-04 21:04:52.701649786 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-04 21:04:52.704424852 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.63sINFOobjective_server_node[0;93m2026-06-04 21:04:52.704451942 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sWARNcontroller_managerOverrun might occur, Total time : 1964.040 us (Expected < 1666.667 us) --> Read time : 866.478 us, Update time : 74.191 us, Write time : 1023.371 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1964.040 us (Expected < 1666.667 us) --> Read time : 866.478 us, Update time : 74.191 us, Write time : 1023.371 us[0m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:53.034740318 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.98sINFOobjective_server_node[0;93m2026-06-04 21:04:53.054949498 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.98sINFOobjective_server_node[0;93m2026-06-04 21:04:53.054993659 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919619 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919619 ms (missed cycles : 5).[0m ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 5145.824 us (Expected < 1666.667 us) --> Read time : 279.045 us, Update time : 4265.397 us, Write time : 601.382 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 5145.824 us (Expected < 1666.667 us) --> Read time : 279.045 us, Update time : 4265.397 us, Write time : 601.382 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956282 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956282 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607094.38374972 seconds ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.45sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 3.45sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 3.92sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607095.00160980 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2).[0m ×2 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us + 4.14sWARNros2_control_nodeOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us[0m ×2 + 4.46sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.46sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.46sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.46sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.58sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653023358 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.58sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653066119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208239614 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.13sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208312565 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.26sINFOobjective_server_node[0;93m2026-06-04 21:04:56.339349301 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.26sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342087456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.26sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342128567 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.35sWARNcontroller_managerOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us[0m ×2 + 5.61sINFOobjective_server_node[0;93m2026-06-04 21:04:56.691613892 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.63sINFOobjective_server_node[0;93m2026-06-04 21:04:56.710994255 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.63sINFOobjective_server_node[0;93m2026-06-04 21:04:56.711044526 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6).[0m ×2 + 6.48sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 6.48sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 6.51sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607097.58359051 seconds ×3 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2).[0m ×2 + 7.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607098.35459805 seconds. ×3 + 7.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.37sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.38sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.49sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 7.49sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 7.49sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 7.50sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 7.63sWARNcontroller_managerOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us + 7.63sWARNros2_control_nodeOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us[0m ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.70sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Accepted new action goal ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5).[0m ×2 + 8.68sWARNcontroller_managerOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us + 8.69sWARNros2_control_nodeOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us + 9.74sWARNros2_control_nodeOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 57 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 7718.158 us (Expected < 1666.667 us) --> Read time : 266.946 us, Update time : 6957.752 us, Write time : 493.460 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 7718.158 us (Expected < 1666.667 us) --> Read time : 266.946 us, Update time : 6957.752 us, Write time : 493.460 us[0m ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649868 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649868 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun might occur, Total time : 1860.488 us (Expected < 1666.667 us) --> Read time : 158.524 us, Update time : 122.672 us, Write time : 1579.292 us + 1.19sWARNros2_control_nodeOverrun might occur, Total time : 1860.488 us (Expected < 1666.667 us) --> Read time : 158.524 us, Update time : 122.672 us, Write time : 1579.292 us[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427748 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427748 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun might occur, Total time : 7681.755 us (Expected < 1666.667 us) --> Read time : 262.115 us, Update time : 6767.577 us, Write time : 652.063 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 7681.755 us (Expected < 1666.667 us) --> Read time : 262.115 us, Update time : 6767.577 us, Write time : 652.063 us[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780607083.56944728 seconds ×3 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607084.20273972 seconds. ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us + 3.24sWARNros2_control_nodeOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607084.30292153 seconds ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607084.88594651 seconds. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.96sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3).[0m ×2 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607087.01612139 seconds ×3 + 5.98sWARNcontroller_managerOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us[0m ×2 + 6.54sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607087.59054494 seconds. ×3 + 6.64sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.65sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Received new action goal ×2 + 6.65sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Accepted new action goal ×2 + 6.92sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view" + 6.92sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593111 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593111 ms (missed cycles : 3).[0m ×2 + 7.17sWARNcontroller_managerOverrun might occur, Total time : 5006.702 us (Expected < 1666.667 us) --> Read time : 220.865 us, Update time : 4270.347 us, Write time : 515.490 us + 7.17sWARNros2_control_nodeOverrun might occur, Total time : 5006.702 us (Expected < 1666.667 us) --> Read time : 220.865 us, Update time : 4270.347 us, Write time : 515.490 us[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021579 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021579 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun might occur, Total time : 6722.547 us (Expected < 1666.667 us) --> Read time : 290.056 us, Update time : 5831.139 us, Write time : 601.352 us + 8.45sWARNros2_control_nodeOverrun might occur, Total time : 6722.547 us (Expected < 1666.667 us) --> Read time : 290.056 us, Update time : 5831.139 us, Write time : 601.352 us[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886723 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886723 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun might occur, Total time : 1958.530 us (Expected < 1666.667 us) --> Read time : 134.803 us, Update time : 1376.168 us, Write time : 447.559 us + 9.50sWARNros2_control_nodeOverrun might occur, Total time : 1958.530 us (Expected < 1666.667 us) --> Read time : 134.803 us, Update time : 1376.168 us, Write time : 447.559 us[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 58 warnings · 496 info |
+ 0.00sINFOobjective_server_node[2026-06-04 21:03:10.710] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.16sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.16sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.16sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.17sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.17sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.17sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.17sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.17sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.17sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.17sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.17sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.17sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.17sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.27sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 0.27sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m ×2 + 0.28sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/statistics" + 0.28sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/color" + 0.28sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/statistics"[0m ×2 + 0.28sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.28sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/color"[0m ×2 + 0.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.28sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.28sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.28sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.28sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.28sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.28sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.28sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/camera_info" + 0.28sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/depth" + 0.28sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/camera_info"[0m ×2 + 0.28sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/depth"[0m ×2 + 0.28sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/joint_state_broadcaster/transition_event" + 0.28sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 0.28sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector" + 0.29sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector"[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points" + 0.29sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points"[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.29sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/description" + 0.29sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/points" + 0.29sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info" + 0.29sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/depth" + 0.29sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/description"[0m ×2 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.29sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/points"[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info"[0m ×2 + 0.29sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/depth"[0m ×2 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.29sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.38sINFOobjective_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 + 0.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.40sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.40sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.40sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.40sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.40sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.40sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.40sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.60sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.60sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9733] ×2 + 0.67sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.67sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.67sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.67sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.67sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.67sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.68sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.68sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.68sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383820 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383820 ms (missed cycles : 4).[0m ×2 + 0.78sWARNobjective_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 + 0.97sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.97sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.98sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.98sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/visual_markers" + 0.98sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/visual_markers"[0m ×2 + 0.98sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.98sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.98sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 0.98sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/controller_state" + 0.99sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/dynamic_joint_states" + 0.99sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/transition_event" + 0.99sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/dynamic_joint_states"[0m ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 0.99sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/blackboard_contents" + 0.99sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/blackboard_contents"[0m ×2 + 0.99sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/behavior_tree_status" + 0.99sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/behavior_tree_status"[0m ×2 + 1.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9734] ×2 + 1.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 1.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 1.17sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-06-04 21:03:11.887] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_node[2026-06-04 21:03:11.887] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2300.287 us (Expected < 1666.667 us) --> Read time : 303.356 us, Update time : 1411.949 us, Write time : 584.982 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2300.287 us (Expected < 1666.667 us) --> Read time : 303.356 us, Update time : 1411.949 us, Write time : 584.982 us[0m ×2 + 1.21sINFOros2_control_node[2026-06-04 21:03:11.920] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-06-04 21:03:11.920] [info] Controller state will be published at 50 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-04 21:03:11.927] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.26sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.30sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.31sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 1.37sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.37sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 1.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.53sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.53sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.55sINFOmove_group ×4 + 1.55sINFOmove_group[92mYou can start planning now![0m ×2 + 1.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9738] ×2 + 1.60sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event" + 1.60sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.60sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.60sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event"[0m ×2 + 1.60sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.60sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 1.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 1.67sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.70sINFOros2_control_node[2026-06-04 21:03:12.410] [info] Controller state will be published at 20 Hz. ×2 + 1.70sINFOros2_control_node[2026-06-04 21:03:12.411] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.01sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 2.01sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 2.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9741] ×2 + 2.05sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 2.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.06sWARNcontroller_managerOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us[0m ×2 + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3).[0m ×2 + 2.07sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 2.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 2.20sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 2.21sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event" + 2.21sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 2.21sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 2.21sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state" + 2.21sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 2.21sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 2.21sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 2.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 2.37sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9732] ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.41sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.42sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.43sINFOforce_torque_sensor_broadcasterconfigure successful + 2.43sINFOros2_control_nodeconfigure successful[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.43sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.76sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 2.76sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event" + 2.76sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench" + 2.76sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 2.76sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 2.76sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 2.76sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9731] ×2 + 2.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780606993.80481267 seconds. ×3 + 3.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 3.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780606993.81528091 seconds ×3 + 3.12sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 3.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 3.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.15sINFOros2_control_node[2026-06-04 21:03:13.863] [info] Controller state will be published at 10 Hz. ×2 + 3.15sINFOros2_control_node[2026-06-04 21:03:13.864] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2).[0m ×2 + 3.30sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 3.30sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 3.30sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 3.30sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 3.30sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 3.30sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 3.30sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 3.30sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9740] ×2 + 3.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780606994.37121987 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.85sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.85sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 6.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 6.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 7.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 7.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 7.72sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 7.73sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 8.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 8.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.35sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 8.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.37sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 8.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.37sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 8.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 51 warnings · 267 info |
+ 0.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-06-04 21:03:12.410] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-06-04 21:03:12.411] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.34sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9741] ×2 + 0.39sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us[0m ×2 + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3).[0m ×2 + 0.40sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state" + 0.54sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 0.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 0.69sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.70sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.70sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9732] ×2 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOforce_torque_sensor_broadcasterconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.77sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench" + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 1.09sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9731] ×2 + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780606993.80481267 seconds. ×3 + 1.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 1.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780606993.81528091 seconds ×3 + 1.45sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.49sINFOros2_control_node[2026-06-04 21:03:13.863] [info] Controller state will be published at 10 Hz. ×2 + 1.49sINFOros2_control_node[2026-06-04 21:03:13.864] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2).[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 1.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9740] ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780606994.37121987 seconds. ×3 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.18sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 6.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 6.06sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 6.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.68sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.68sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 6.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 7.32sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 7.32sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 7.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 7.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 7.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.48sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 7.48sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 8.50sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 8.50sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 8.52sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 49 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5263.616 us (Expected < 1666.667 us) --> Read time : 154.363 us, Update time : 4372.548 us, Write time : 736.705 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5263.616 us (Expected < 1666.667 us) --> Read time : 154.363 us, Update time : 4372.548 us, Write time : 736.705 us[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418985 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418985 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun might occur, Total time : 1872.618 us (Expected < 1666.667 us) --> Read time : 747.725 us, Update time : 127.063 us, Write time : 997.830 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 1872.618 us (Expected < 1666.667 us) --> Read time : 747.725 us, Update time : 127.063 us, Write time : 997.830 us[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4).[0m ×2 + 3.44sWARNcontroller_managerOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us[0m ×2 + 3.74sINFOros2_control_node[2026-06-04 21:08:50.612] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-06-04 21:08:50.613] [info] Canceling active goal... ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2). + 3.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607330.62339807 seconds ×3 + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607331.22088289 seconds. ×3 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7).[0m ×2 + 4.81sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event" + 4.81sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event"[0m ×2 + 5.32sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 5.32sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607332.21351266 seconds ×3 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3).[0m ×2 + 5.82sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.82sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607332.78029275 seconds. ×3 + 5.90sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.90sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.90sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.90sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607332.78251600 seconds ×3 + 6.32sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.32sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 6.32sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 6.33sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607333.34302068 seconds. ×3 + 6.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607333.34359241 seconds ×3 + 6.57sWARNcontroller_managerOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us + 6.57sWARNros2_control_nodeOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us[0m ×2 + 6.83sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 6.83sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2).[0m ×2 + 7.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780607334.04421139 seconds. ×3 + 7.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780607334.65434813 seconds ×3 + 7.80sWARNcontroller_managerOverrun might occur, Total time : 3023.782 us (Expected < 1666.667 us) --> Read time : 257.116 us, Update time : 2311.846 us, Write time : 454.820 us + 7.80sWARNros2_control_nodeOverrun might occur, Total time : 3023.782 us (Expected < 1666.667 us) --> Read time : 257.116 us, Update time : 2311.846 us, Write time : 454.820 us[0m ×2 + 7.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626156 ms (missed cycles : 3). | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 42 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351354 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351354 ms (missed cycles : 4).[0m ×2 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 7718.158 us (Expected < 1666.667 us) --> Read time : 266.946 us, Update time : 6957.752 us, Write time : 493.460 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 7718.158 us (Expected < 1666.667 us) --> Read time : 266.946 us, Update time : 6957.752 us, Write time : 493.460 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649868 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649868 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 1860.488 us (Expected < 1666.667 us) --> Read time : 158.524 us, Update time : 122.672 us, Write time : 1579.292 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 1860.488 us (Expected < 1666.667 us) --> Read time : 158.524 us, Update time : 122.672 us, Write time : 1579.292 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427748 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427748 ms (missed cycles : 3).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 7681.755 us (Expected < 1666.667 us) --> Read time : 262.115 us, Update time : 6767.577 us, Write time : 652.063 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 7681.755 us (Expected < 1666.667 us) --> Read time : 262.115 us, Update time : 6767.577 us, Write time : 652.063 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780607083.56944728 seconds ×3 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607084.20273972 seconds. ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607084.30292153 seconds ×3 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607084.88594651 seconds. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.22sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607087.01612139 seconds ×3 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us[0m ×2 + 6.80sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607087.59054494 seconds. ×3 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.91sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 45 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702038 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702038 ms (missed cycles : 6).[0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4739.086 us (Expected < 1666.667 us) --> Read time : 326.306 us, Update time : 81.592 us, Write time : 4331.188 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4739.086 us (Expected < 1666.667 us) --> Read time : 326.306 us, Update time : 81.592 us, Write time : 4331.188 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5).[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.44sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Accepted new action goal ×2 + 2.95sWARNcontroller_managerOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7).[0m ×2 + 3.22sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Canceling active goal... ×2 + 3.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607010.24073005 seconds ×3 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607010.82345629 seconds. ×3 + 3.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607010.94360495 seconds ×3 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607011.58881593 seconds. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6).[0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.76sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6).[0m ×2 + 7.34sWARNcontroller_managerOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us + 7.34sWARNros2_control_nodeOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 39 warnings · 51 info |
+ 0.00sINFOros2_control_node[2026-06-04 21:03:54.882] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-04 21:03:54.882] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664534 ms (missed cycles : 6). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664534 ms (missed cycles : 6).[0m ×2 + 0.65sWARNcontroller_managerOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us + 0.66sWARNros2_control_nodeOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607038.03421307 seconds ×3 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us + 3.23sWARNros2_control_nodeOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607038.62548828 seconds. ×3 + 3.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607038.69563842 seconds ×3 + 4.09sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.09sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607039.31491566 seconds. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.57sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Accepted new action goal ×2 + 4.60sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.61sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us + 6.62sWARNros2_control_nodeOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 3 errors · 45 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4).[0m ×2 + 0.84sWARNcontroller_managerOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us + 0.84sWARNros2_control_nodeOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 3.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.15sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 4.75sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.75sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 6.80sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 6.81sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 45 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 3.64sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.64sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.84sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 3.85sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 3.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.74sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6).[0m ×2 + 7.15sWARNcontroller_managerOverrun might occur, Total time : 10178.165 us (Expected < 1666.667 us) --> Read time : 296.476 us, Update time : 9286.217 us, Write time : 595.472 us + 7.16sWARNros2_control_nodeOverrun might occur, Total time : 10178.165 us (Expected < 1666.667 us) --> Read time : 296.476 us, Update time : 9286.217 us, Write time : 595.472 us[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 45 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us[0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:50.612] [info] Got request to cancel active goal. ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:50.613] [info] Canceling active goal... ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2). + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607330.62339807 seconds ×3 + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607331.22088289 seconds. ×3 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7).[0m ×2 + 2.55sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event" + 2.55sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event"[0m ×2 + 3.06sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 3.06sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607332.21351266 seconds ×3 + 3.25sWARNcontroller_managerOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us + 3.25sWARNros2_control_nodeOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3).[0m ×2 + 3.56sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 3.56sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607332.78029275 seconds. ×3 + 3.65sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.65sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.65sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607332.78251600 seconds ×3 + 4.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.07sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 4.07sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607333.34302068 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607333.34359241 seconds ×3 + 4.31sWARNcontroller_managerOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us[0m ×2 + 4.57sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 4.57sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780607334.04421139 seconds. ×3 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780607334.65434813 seconds ×3 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 3023.782 us (Expected < 1666.667 us) --> Read time : 257.116 us, Update time : 2311.846 us, Write time : 454.820 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 3023.782 us (Expected < 1666.667 us) --> Read time : 257.116 us, Update time : 2311.846 us, Write time : 454.820 us[0m ×2 + 5.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626156 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626156 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754709 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754709 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun might occur, Total time : 2345.298 us (Expected < 1666.667 us) --> Read time : 225.595 us, Update time : 1538.511 us, Write time : 581.192 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 2345.298 us (Expected < 1666.667 us) --> Read time : 225.595 us, Update time : 1538.511 us, Write time : 581.192 us[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 48 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2).[0m ×2 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4).[0m ×2 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us[0m ×2 + 2.08sINFOros2_control_node[2026-06-04 21:08:50.612] [info] Got request to cancel active goal. ×2 + 2.08sINFOros2_control_node[2026-06-04 21:08:50.613] [info] Canceling active goal... ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2). + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607330.62339807 seconds ×3 + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2).[0m ×2 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607331.22088289 seconds. ×3 + 2.84sWARNcontroller_managerOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7).[0m ×2 + 3.15sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event" + 3.15sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event"[0m ×2 + 3.66sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 3.66sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607332.21351266 seconds ×3 + 3.85sWARNcontroller_managerOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us + 3.85sWARNros2_control_nodeOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3).[0m ×2 + 4.16sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 4.16sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607332.78029275 seconds. ×3 + 4.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607332.78251600 seconds ×3 + 4.66sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.66sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 4.66sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.67sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607333.34302068 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607333.34359241 seconds ×3 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us + 4.91sWARNros2_control_nodeOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us[0m ×2 + 5.17sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 5.17sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780607334.04421139 seconds. ×3 + 6.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780607334.65434813 seconds ×3 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 3023.782 us (Expected < 1666.667 us) --> Read time : 257.116 us, Update time : 2311.846 us, Write time : 454.820 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 3023.782 us (Expected < 1666.667 us) --> Read time : 257.116 us, Update time : 2311.846 us, Write time : 454.820 us[0m ×2 + 6.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626156 ms (missed cycles : 3). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626156 ms (missed cycles : 3).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754709 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754709 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun might occur, Total time : 2345.298 us (Expected < 1666.667 us) --> Read time : 225.595 us, Update time : 1538.511 us, Write time : 581.192 us + 7.27sWARNros2_control_nodeOverrun might occur, Total time : 2345.298 us (Expected < 1666.667 us) --> Read time : 225.595 us, Update time : 1538.511 us, Write time : 581.192 us[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.1s | 39 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607094.38374972 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607095.00160980 seconds. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2).[0m ×2 + 0.83sWARNcontroller_managerOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us + 0.83sWARNros2_control_nodeOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653023358 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653066119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208239614 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208312565 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.339349301 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342087456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342128567 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us[0m ×2 + 2.31sINFOobjective_server_node[0;93m2026-06-04 21:04:56.691613892 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.710994255 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.711044526 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6).[0m ×2 + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607097.58359051 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607098.35459805 seconds. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.07sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108752 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.1s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 0.94sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 0.95sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 2.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 3.41sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.41sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 3.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 5.74sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6).[0m ×2 + 6.92sWARNcontroller_managerOverrun might occur, Total time : 10178.165 us (Expected < 1666.667 us) --> Read time : 296.476 us, Update time : 9286.217 us, Write time : 595.472 us + 6.93sWARNros2_control_nodeOverrun might occur, Total time : 10178.165 us (Expected < 1666.667 us) --> Read time : 296.476 us, Update time : 9286.217 us, Write time : 595.472 us[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.1s | 36 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4884.443 us (Expected < 1666.667 us) --> Read time : 290.716 us, Update time : 3984.334 us, Write time : 609.393 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4884.443 us (Expected < 1666.667 us) --> Read time : 290.716 us, Update time : 3984.334 us, Write time : 609.393 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456036 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456036 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 1996.002 us (Expected < 1666.667 us) --> Read time : 332.407 us, Update time : 88.672 us, Write time : 1574.923 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 1996.002 us (Expected < 1666.667 us) --> Read time : 332.407 us, Update time : 88.672 us, Write time : 1574.923 us[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248725 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248725 ms (missed cycles : 3).[0m ×2 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 4811.022 us (Expected < 1666.667 us) --> Read time : 291.236 us, Update time : 3972.295 us, Write time : 547.491 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 4811.022 us (Expected < 1666.667 us) --> Read time : 291.236 us, Update time : 3972.295 us, Write time : 547.491 us[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128002 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780607275.36335826 seconds ×3 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998373 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998373 ms (missed cycles : 2).[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2301.339 us (Expected < 1666.667 us) --> Read time : 255.205 us, Update time : 75.392 us, Write time : 1970.742 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2301.339 us (Expected < 1666.667 us) --> Read time : 255.205 us, Update time : 75.392 us, Write time : 1970.742 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780607276.17310500 seconds. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-06-04 21:07:56.367] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-06-04 21:07:56.367] [info] Accepted new action goal ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.13sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.13sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 4.13sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.13sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678881 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678881 ms (missed cycles : 4).[0m ×2 + 4.62sWARNcontroller_managerOverrun might occur, Total time : 4511.937 us (Expected < 1666.667 us) --> Read time : 360.538 us, Update time : 98.332 us, Write time : 4053.067 us + 4.62sWARNros2_control_nodeOverrun might occur, Total time : 4511.937 us (Expected < 1666.667 us) --> Read time : 360.538 us, Update time : 98.332 us, Write time : 4053.067 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793240 ms (missed cycles : 6). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793240 ms (missed cycles : 6).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 2417.092 us (Expected < 1666.667 us) --> Read time : 173.884 us, Update time : 1808.399 us, Write time : 434.809 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 2417.092 us (Expected < 1666.667 us) --> Read time : 173.884 us, Update time : 1808.399 us, Write time : 434.809 us[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.1s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3).[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us + 0.85sWARNros2_control_nodeOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5).[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.41sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Accepted new action goal ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7).[0m ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607010.24073005 seconds ×3 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607010.82345629 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607010.94360495 seconds ×3 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607011.58881593 seconds. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6).[0m ×2 + 6.32sWARNcontroller_managerOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us + 6.32sWARNros2_control_nodeOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 36 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 36 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607094.38374972 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607095.00160980 seconds. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2).[0m ×2 + 0.83sWARNcontroller_managerOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us + 0.83sWARNros2_control_nodeOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653023358 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653066119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208239614 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208312565 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.339349301 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342087456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342128567 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us[0m ×2 + 2.31sINFOobjective_server_node[0;93m2026-06-04 21:04:56.691613892 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.710994255 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.711044526 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6).[0m ×2 + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607097.58359051 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607098.35459805 seconds. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.07sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 33 warnings · 2195 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×358 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×358 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×716 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×716 + 0.30sWARNcontroller_managerOverrun might occur, Total time : 1899.858 us (Expected < 1666.667 us) --> Read time : 1086.412 us, Update time : 325.746 us, Write time : 487.700 us + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 1899.858 us (Expected < 1666.667 us) --> Read time : 1086.412 us, Update time : 325.746 us, Write time : 487.700 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513341 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513341 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 1691.104 us (Expected < 1666.667 us) --> Read time : 328.757 us, Update time : 114.422 us, Write time : 1247.925 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 1691.104 us (Expected < 1666.667 us) --> Read time : 328.757 us, Update time : 114.422 us, Write time : 1247.925 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960591 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960591 ms (missed cycles : 3).[0m ×2 + 2.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.51% of iterations over budget over 4:10.009 of wall time (1160/76595). Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689557 ms (missed cycles : 2).[0m ×2 + 3.39sWARNcontroller_managerOverrun might occur, Total time : 2137.943 us (Expected < 1666.667 us) --> Read time : 191.704 us, Update time : 89.312 us, Write time : 1856.927 us + 3.39sWARNros2_control_nodeOverrun might occur, Total time : 2137.943 us (Expected < 1666.667 us) --> Read time : 191.704 us, Update time : 89.312 us, Write time : 1856.927 us[0m ×2 + 3.52sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780607242.20071006 seconds ×3 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702503 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702503 ms (missed cycles : 6).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780607242.85306525 seconds. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 2149.183 us (Expected < 1666.667 us) --> Read time : 307.046 us, Update time : 819.367 us, Write time : 1022.770 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 2149.183 us (Expected < 1666.667 us) --> Read time : 307.046 us, Update time : 819.367 us, Write time : 1022.770 us[0m ×2 + 4.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.55sINFOfoxglove_bridgeRemoving channel 78 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 5.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOcontroller_managerSuccessfully switched controllers! + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348837 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348837 ms (missed cycles : 4).[0m ×2 + 5.30sINFOobjective_server_nodeFound path in 6 iterations (0.00651755 s). ×2 + 5.35sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.37sINFOros2_control_node[2026-06-04 21:07:24.049] [info] Received new action goal ×2 + 5.37sINFOros2_control_node[2026-06-04 21:07:24.049] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 8441.010 us (Expected < 1666.667 us) --> Read time : 225.324 us, Update time : 7613.734 us, Write time : 601.952 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 8441.010 us (Expected < 1666.667 us) --> Read time : 225.324 us, Update time : 7613.734 us, Write time : 601.952 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318121 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318121 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 36 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702038 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702038 ms (missed cycles : 6).[0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4739.086 us (Expected < 1666.667 us) --> Read time : 326.306 us, Update time : 81.592 us, Write time : 4331.188 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4739.086 us (Expected < 1666.667 us) --> Read time : 326.306 us, Update time : 81.592 us, Write time : 4331.188 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5).[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.44sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Accepted new action goal ×2 + 2.95sWARNcontroller_managerOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7).[0m ×2 + 3.22sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Canceling active goal... ×2 + 3.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607010.24073005 seconds ×3 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607010.82345629 seconds. ×3 + 3.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607010.94360495 seconds ×3 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607011.58881593 seconds. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6).[0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.76sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702038 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702038 ms (missed cycles : 6).[0m ×2 + 0.53sWARNcontroller_managerOverrun might occur, Total time : 4739.086 us (Expected < 1666.667 us) --> Read time : 326.306 us, Update time : 81.592 us, Write time : 4331.188 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 4739.086 us (Expected < 1666.667 us) --> Read time : 326.306 us, Update time : 81.592 us, Write time : 4331.188 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5).[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.44sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Accepted new action goal ×2 + 2.95sWARNcontroller_managerOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7).[0m ×2 + 3.22sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Canceling active goal... ×2 + 3.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607010.24073005 seconds ×3 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607010.82345629 seconds. ×3 + 3.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607010.94360495 seconds ×3 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607011.58881593 seconds. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 4.71sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6).[0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.76sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us + 6.16sWARNros2_control_nodeOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3).[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us + 0.85sWARNros2_control_nodeOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5).[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.41sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Accepted new action goal ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7).[0m ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607010.24073005 seconds ×3 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607010.82345629 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607010.94360495 seconds ×3 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607011.58881593 seconds. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6).[0m ×2 + 6.32sWARNcontroller_managerOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us + 6.32sWARNros2_control_nodeOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3).[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us + 0.85sWARNros2_control_nodeOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5).[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.41sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Accepted new action goal ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7).[0m ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607010.24073005 seconds ×3 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607010.82345629 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607010.94360495 seconds ×3 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607011.58881593 seconds. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6).[0m ×2 + 6.32sWARNcontroller_managerOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us + 6.32sWARNros2_control_nodeOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613024 ms (missed cycles : 3).[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us + 0.85sWARNros2_control_nodeOverrun might occur, Total time : 3141.784 us (Expected < 1666.667 us) --> Read time : 334.297 us, Update time : 2202.065 us, Write time : 605.422 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010805 ms (missed cycles : 5).[0m ×2 + 1.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.41sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-06-04 21:03:29.439] [info] Accepted new action goal ×2 + 1.93sWARNcontroller_managerOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us + 1.93sWARNros2_control_nodeOverrun might occur, Total time : 3853.627 us (Expected < 1666.667 us) --> Read time : 212.594 us, Update time : 3205.044 us, Write time : 435.989 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.387415 ms (missed cycles : 7).[0m ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-06-04 21:03:30.216] [info] Canceling active goal... ×2 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780607010.24073005 seconds ×3 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780607010.82345629 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780607010.94360495 seconds ×3 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2542.681 us (Expected < 1666.667 us) --> Read time : 203.694 us, Update time : 52.801 us, Write time : 2286.186 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911271 ms (missed cycles : 8).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780607011.58881593 seconds. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.69sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.05sWARNcontroller_managerOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us + 4.05sWARNros2_control_nodeOverrun might occur, Total time : 4648.043 us (Expected < 1666.667 us) --> Read time : 143.853 us, Update time : 3973.759 us, Write time : 530.431 us[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.619700 ms (missed cycles : 6).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-06-04 21:03:32.753] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 1920.328 us (Expected < 1666.667 us) --> Read time : 846.017 us, Update time : 164.573 us, Write time : 909.738 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.972093 ms (missed cycles : 8).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.601951 ms (missed cycles : 6).[0m ×2 + 6.32sWARNcontroller_managerOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us + 6.32sWARNros2_control_nodeOverrun might occur, Total time : 3768.616 us (Expected < 1666.667 us) --> Read time : 274.786 us, Update time : 3011.090 us, Write time : 482.740 us[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7).[0m ×2 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607038.03421307 seconds ×3 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.58sWARNcontroller_managerOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607038.62548828 seconds. ×3 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607038.69563842 seconds ×3 + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607039.31491566 seconds. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Accepted new action goal ×2 + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7).[0m ×2 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607038.03421307 seconds ×3 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.58sWARNcontroller_managerOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607038.62548828 seconds. ×3 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607038.69563842 seconds ×3 + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607039.31491566 seconds. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Accepted new action goal ×2 + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7).[0m ×2 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607038.03421307 seconds ×3 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.58sWARNcontroller_managerOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607038.62548828 seconds. ×3 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607038.69563842 seconds ×3 + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607039.31491566 seconds. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Accepted new action goal ×2 + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3293.687 us (Expected < 1666.667 us) --> Read time : 197.934 us, Update time : 2605.103 us, Write time : 490.650 us[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.256709 ms (missed cycles : 7).[0m ×2 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-06-04 21:03:56.648] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 2355.008 us (Expected < 1666.667 us) --> Read time : 202.344 us, Update time : 667.864 us, Write time : 1484.800 us[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711764 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780607038.03421307 seconds ×3 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.58sWARNcontroller_managerOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 1838.597 us (Expected < 1666.667 us) --> Read time : 237.765 us, Update time : 90.302 us, Write time : 1510.530 us[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514085 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780607038.62548828 seconds. ×3 + 3.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780607038.69563842 seconds ×3 + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.44sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 1740.494 us (Expected < 1666.667 us) --> Read time : 684.513 us, Update time : 164.573 us, Write time : 891.408 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780607039.31491566 seconds. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076740 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-06-04 21:03:59.450] [info] Accepted new action goal ×2 + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.95sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129125 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 2798.276 us (Expected < 1666.667 us) --> Read time : 252.175 us, Update time : 2091.372 us, Write time : 454.729 us[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002734 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1730.405 us (Expected < 1666.667 us) --> Read time : 753.095 us, Update time : 56.622 us, Write time : 920.688 us[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 39 warnings · 38 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249628 ms (missed cycles : 3).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 11820.059 us (Expected < 1666.667 us) --> Read time : 162.034 us, Update time : 10945.031 us, Write time : 712.994 us[0m ×2 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-06-04 21:04:07.488] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.284837 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1674.594 us (Expected < 1666.667 us) --> Read time : 221.655 us, Update time : 995.360 us, Write time : 457.579 us[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720219 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624758 ms (missed cycles : 4).[0m ×2 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780607049.71698236 seconds ×3 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 2060.952 us (Expected < 1666.667 us) --> Read time : 172.623 us, Update time : 842.957 us, Write time : 1045.372 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780607050.33690500 seconds. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.03sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.03sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.675931 ms (missed cycles : 6).[0m ×2 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us + 4.30sWARNros2_control_nodeOverrun might occur, Total time : 11238.807 us (Expected < 1666.667 us) --> Read time : 138.163 us, Update time : 192.224 us, Write time : 10908.420 us[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-06-04 21:04:11.537] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.013880 ms (missed cycles : 8).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2183.814 us (Expected < 1666.667 us) --> Read time : 209.414 us, Update time : 1555.971 us, Write time : 418.429 us[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585715 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 1747.925 us (Expected < 1666.667 us) --> Read time : 221.494 us, Update time : 655.383 us, Write time : 871.048 us[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 36 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1868.488 us (Expected < 1666.667 us) --> Read time : 234.494 us, Update time : 85.422 us, Write time : 1548.572 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1868.488 us (Expected < 1666.667 us) --> Read time : 234.494 us, Update time : 85.422 us, Write time : 1548.572 us[0m ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672442 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672442 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 2048.091 us (Expected < 1666.667 us) --> Read time : 276.785 us, Update time : 462.940 us, Write time : 1308.366 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 2048.091 us (Expected < 1666.667 us) --> Read time : 276.785 us, Update time : 462.940 us, Write time : 1308.366 us[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.62sINFOobjective_server_nodeFound path in 1 iterations (0.00264957 s). ×2 + 1.72sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOros2_control_node[2026-06-04 21:04:30.360] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-04 21:04:30.360] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.049030 ms (missed cycles : 8). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.049030 ms (missed cycles : 8).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1861.708 us (Expected < 1666.667 us) --> Read time : 223.025 us, Update time : 81.862 us, Write time : 1556.821 us + 2.08sWARNros2_control_nodeOverrun might occur, Total time : 1861.708 us (Expected < 1666.667 us) --> Read time : 223.025 us, Update time : 81.862 us, Write time : 1556.821 us[0m ×2 + 2.20sINFOros2_control_node[2026-06-04 21:04:30.804] [info] Received new action goal ×2 + 2.20sINFOros2_control_node[2026-06-04 21:04:30.804] [info] Accepted new action goal ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563270 ms (missed cycles : 4). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563270 ms (missed cycles : 4).[0m ×2 + 3.11sINFOros2_control_node[2026-06-04 21:04:31.714] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-06-04 21:04:31.714] [info] Canceling active goal... ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780607071.73574352 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.45sWARNcontroller_managerOverrun might occur, Total time : 3176.475 us (Expected < 1666.667 us) --> Read time : 371.898 us, Update time : 2315.037 us, Write time : 489.540 us + 3.46sWARNros2_control_nodeOverrun might occur, Total time : 3176.475 us (Expected < 1666.667 us) --> Read time : 371.898 us, Update time : 2315.037 us, Write time : 489.540 us[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780607072.35221934 seconds. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.93sINFOros2_control_node[2026-06-04 21:04:32.536] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:04:32.536] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856135 ms (missed cycles : 5). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856135 ms (missed cycles : 5).[0m ×2 + 4.24sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.24sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.24sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.24sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.65sWARNcontroller_managerOverrun might occur, Total time : 1806.577 us (Expected < 1666.667 us) --> Read time : 510.781 us, Update time : 902.188 us, Write time : 393.608 us + 4.65sWARNros2_control_nodeOverrun might occur, Total time : 1806.577 us (Expected < 1666.667 us) --> Read time : 510.781 us, Update time : 902.188 us, Write time : 393.608 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932735 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932735 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun might occur, Total time : 5064.601 us (Expected < 1666.667 us) --> Read time : 251.445 us, Update time : 4263.915 us, Write time : 549.241 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 5064.601 us (Expected < 1666.667 us) --> Read time : 251.445 us, Update time : 4263.915 us, Write time : 549.241 us[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313206 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313206 ms (missed cycles : 4).[0m ×2 + 6.40sINFOros2_control_node[2026-06-04 21:04:35.006] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-06-04 21:04:35.006] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 42 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351354 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351354 ms (missed cycles : 4).[0m ×2 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 7718.158 us (Expected < 1666.667 us) --> Read time : 266.946 us, Update time : 6957.752 us, Write time : 493.460 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 7718.158 us (Expected < 1666.667 us) --> Read time : 266.946 us, Update time : 6957.752 us, Write time : 493.460 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649868 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649868 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 1860.488 us (Expected < 1666.667 us) --> Read time : 158.524 us, Update time : 122.672 us, Write time : 1579.292 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 1860.488 us (Expected < 1666.667 us) --> Read time : 158.524 us, Update time : 122.672 us, Write time : 1579.292 us[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427748 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427748 ms (missed cycles : 3).[0m ×2 + 2.61sWARNcontroller_managerOverrun might occur, Total time : 7681.755 us (Expected < 1666.667 us) --> Read time : 262.115 us, Update time : 6767.577 us, Write time : 652.063 us + 2.61sWARNros2_control_nodeOverrun might occur, Total time : 7681.755 us (Expected < 1666.667 us) --> Read time : 262.115 us, Update time : 6767.577 us, Write time : 652.063 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780607083.56944728 seconds ×3 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607084.20273972 seconds. ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607084.30292153 seconds ×3 + 4.02sWARNcontroller_managerOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us + 4.02sWARNros2_control_nodeOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607084.88594651 seconds. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607087.01612139 seconds ×3 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us[0m ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 42 warnings · 76 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607084.20273972 seconds. ×3 + 0.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.64sWARNcontroller_managerOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us + 0.64sWARNros2_control_nodeOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607084.30292153 seconds ×3 + 1.16sWARNcontroller_managerOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us + 1.16sWARNros2_control_nodeOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607084.88594651 seconds. ×3 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.36sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607087.01612139 seconds ×3 + 3.39sWARNcontroller_managerOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607087.59054494 seconds. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.05sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Accepted new action goal ×2 + 4.32sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view" + 4.32sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593111 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593111 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 5006.702 us (Expected < 1666.667 us) --> Read time : 220.865 us, Update time : 4270.347 us, Write time : 515.490 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 5006.702 us (Expected < 1666.667 us) --> Read time : 220.865 us, Update time : 4270.347 us, Write time : 515.490 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021579 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021579 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 6722.547 us (Expected < 1666.667 us) --> Read time : 290.056 us, Update time : 5831.139 us, Write time : 601.352 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 6722.547 us (Expected < 1666.667 us) --> Read time : 290.056 us, Update time : 5831.139 us, Write time : 601.352 us[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886723 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886723 ms (missed cycles : 3).[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 1958.530 us (Expected < 1666.667 us) --> Read time : 134.803 us, Update time : 1376.168 us, Write time : 447.559 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 1958.530 us (Expected < 1666.667 us) --> Read time : 134.803 us, Update time : 1376.168 us, Write time : 447.559 us[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 42 warnings · 76 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723357 ms (missed cycles : 6).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780607084.20273972 seconds. ×3 + 0.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.64sWARNcontroller_managerOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us + 0.64sWARNros2_control_nodeOverrun might occur, Total time : 3907.409 us (Expected < 1666.667 us) --> Read time : 290.045 us, Update time : 3000.631 us (Switch time : 2946.020 us (Switch chained mode time : 0.360 us, perform mode change time : 4.910 us, Activation time : 2930.360 us, Deactivation time : 0.450 us)), Write time : 616.733 us[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780607084.30292153 seconds ×3 + 1.16sWARNcontroller_managerOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us + 1.16sWARNros2_control_nodeOverrun might occur, Total time : 2281.017 us (Expected < 1666.667 us) --> Read time : 199.275 us, Update time : 425.978 us, Write time : 1655.764 us[0m ×2 + 1.23sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780607084.88594651 seconds. ×3 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687642 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.36sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-06-04 21:04:45.010] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648859 ms (missed cycles : 3).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 6351.770 us (Expected < 1666.667 us) --> Read time : 290.566 us, Update time : 164.254 us, Write time : 5896.950 us[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990787 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780607087.01612139 seconds ×3 + 3.39sWARNcontroller_managerOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 1879.278 us (Expected < 1666.667 us) --> Read time : 253.595 us, Update time : 634.733 us, Write time : 990.950 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780607087.59054494 seconds. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.05sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-06-04 21:04:47.706] [info] Accepted new action goal ×2 + 4.32sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view" + 4.32sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593111 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593111 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 5006.702 us (Expected < 1666.667 us) --> Read time : 220.865 us, Update time : 4270.347 us, Write time : 515.490 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 5006.702 us (Expected < 1666.667 us) --> Read time : 220.865 us, Update time : 4270.347 us, Write time : 515.490 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021579 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021579 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 6722.547 us (Expected < 1666.667 us) --> Read time : 290.056 us, Update time : 5831.139 us, Write time : 601.352 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 6722.547 us (Expected < 1666.667 us) --> Read time : 290.056 us, Update time : 5831.139 us, Write time : 601.352 us[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886723 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886723 ms (missed cycles : 3).[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 1958.530 us (Expected < 1666.667 us) --> Read time : 134.803 us, Update time : 1376.168 us, Write time : 447.559 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 1958.530 us (Expected < 1666.667 us) --> Read time : 134.803 us, Update time : 1376.168 us, Write time : 447.559 us[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607094.38374972 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607095.00160980 seconds. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2).[0m ×2 + 0.83sWARNcontroller_managerOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us + 0.83sWARNros2_control_nodeOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653023358 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653066119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208239614 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208312565 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.339349301 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342087456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342128567 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us[0m ×2 + 2.31sINFOobjective_server_node[0;93m2026-06-04 21:04:56.691613892 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.710994255 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.711044526 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6).[0m ×2 + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607097.58359051 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607098.35459805 seconds. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.07sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607094.38374972 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607095.00160980 seconds. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2).[0m ×2 + 0.83sWARNcontroller_managerOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us + 0.83sWARNros2_control_nodeOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653023358 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653066119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208239614 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208312565 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.339349301 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342087456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342128567 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us[0m ×2 + 2.31sINFOobjective_server_node[0;93m2026-06-04 21:04:56.691613892 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.710994255 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.711044526 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6).[0m ×2 + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607097.58359051 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607098.35459805 seconds. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.07sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780607094.38374972 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization" + 0.15sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/masks_visualization"[0m ×2 + 0.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780607095.00160980 seconds. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324070 ms (missed cycles : 2).[0m ×2 + 0.83sWARNcontroller_managerOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us + 0.83sWARNros2_control_nodeOverrun might occur, Total time : 6341.628 us (Expected < 1666.667 us) --> Read time : 202.854 us, Update time : 5555.523 us, Write time : 583.251 us[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.16sINFOfoxglove_bridgeRemoving channel 74 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.16sINFOfoxglove_bridgeRemoving channel 73 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653023358 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 21:04:55.653066119 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626708 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208239614 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.83sINFOobjective_server_node[0;93m2026-06-04 21:04:56.208312565 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.339349301 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342087456 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.96sINFOobjective_server_node[0;93m2026-06-04 21:04:56.342128567 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2918.689 us (Expected < 1666.667 us) --> Read time : 286.836 us, Update time : 70.982 us, Write time : 2560.871 us[0m ×2 + 2.31sINFOobjective_server_node[0;93m2026-06-04 21:04:56.691613892 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.710994255 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.33sINFOobjective_server_node[0;93m2026-06-04 21:04:56.711044526 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628857 ms (missed cycles : 6).[0m ×2 + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.18sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780607097.58359051 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 10099.164 us (Expected < 1666.667 us) --> Read time : 309.866 us, Update time : 9182.946 us, Write time : 606.352 us[0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785717 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780607098.35459805 seconds. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.07sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution" + 4.19sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/solution"[0m ×2 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 1910.218 us (Expected < 1666.667 us) --> Read time : 216.734 us, Update time : 1280.196 us, Write time : 413.288 us[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-06-04 21:04:58.772] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141573 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 1861.998 us (Expected < 1666.667 us) --> Read time : 793.536 us, Update time : 160.833 us, Write time : 907.629 us[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697060 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 3337.408 us (Expected < 1666.667 us) --> Read time : 216.925 us, Update time : 2566.452 us, Write time : 554.031 us[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 42 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1934.639 us (Expected < 1666.667 us) --> Read time : 173.504 us, Update time : 798.846 us, Write time : 962.289 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1934.639 us (Expected < 1666.667 us) --> Read time : 173.504 us, Update time : 798.846 us, Write time : 962.289 us[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485571 ms (missed cycles : 3). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485571 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 1884.079 us (Expected < 1666.667 us) --> Read time : 164.144 us, Update time : 739.395 us, Write time : 980.540 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 1884.079 us (Expected < 1666.667 us) --> Read time : 164.144 us, Update time : 739.395 us, Write time : 980.540 us[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280915 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280915 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 2271.756 us (Expected < 1666.667 us) --> Read time : 292.146 us, Update time : 1509.060 us, Write time : 470.550 us + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 2271.756 us (Expected < 1666.667 us) --> Read time : 292.146 us, Update time : 1509.060 us, Write time : 470.550 us[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718503 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718503 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780607151.71918535 seconds ×3 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 2367.968 us (Expected < 1666.667 us) --> Read time : 446.699 us, Update time : 1151.074 us, Write time : 770.195 us + 3.76sWARNros2_control_nodeOverrun might occur, Total time : 2367.968 us (Expected < 1666.667 us) --> Read time : 446.699 us, Update time : 1151.074 us, Write time : 770.195 us[0m ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188574 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188574 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780607152.33767009 seconds. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.25sINFOros2_control_node[2026-06-04 21:05:52.512] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-04 21:05:52.512] [info] Accepted new action goal ×2 + 4.45sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event" + 4.45sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/agent_event"[0m ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2839.658 us (Expected < 1666.667 us) --> Read time : 298.086 us, Update time : 1514.821 us, Write time : 1026.751 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 2839.658 us (Expected < 1666.667 us) --> Read time : 298.086 us, Update time : 1514.821 us, Write time : 1026.751 us[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658822 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658822 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.53sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.59sINFOcontroller_managerSuccessfully switched controllers! + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.80sWARNcontroller_managerOverrun might occur, Total time : 1775.776 us (Expected < 1666.667 us) --> Read time : 257.635 us, Update time : 897.099 us, Write time : 621.042 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 1775.776 us (Expected < 1666.667 us) --> Read time : 257.635 us, Update time : 897.099 us, Write time : 621.042 us[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415917 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415917 ms (missed cycles : 4).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791313 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791313 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun might occur, Total time : 3808.267 us (Expected < 1666.667 us) --> Read time : 225.464 us, Update time : 2914.439 us, Write time : 668.364 us + 6.92sWARNros2_control_nodeOverrun might occur, Total time : 3808.267 us (Expected < 1666.667 us) --> Read time : 225.464 us, Update time : 2914.439 us, Write time : 668.364 us[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 792 errors · 42 warnings · 1386 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001330611288 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001330611288[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002292168325 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002292168325[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001215981948 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001215981948[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002766272784 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002766272784[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003182253212 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003182253212[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003110759702 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003110759702[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001725559632 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001725559632[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000994092988 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000994092988[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003132273111 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003132273111[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001819149238 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001819149238[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001579729356 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001579729356[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002093122886 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002093122886[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002003207882 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002003207882[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002328650356 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002328650356[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002821751118 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002821751118[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000481301320 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000481301320[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003943212017 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003943212017[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003319278062 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003319278062[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000575843914 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000575843914[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001698969862 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001698969862[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 2205.528 us (Expected < 1666.667 us) --> Read time : 301.197 us, Update time : 1479.451 us, Write time : 424.880 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2205.528 us (Expected < 1666.667 us) --> Read time : 301.197 us, Update time : 1479.451 us, Write time : 424.880 us[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002930301227 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002930301227[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002798259508 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002798259508[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001050396427 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001050396427[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001508085753 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001508085753[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002137588272 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002137588272[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001810565963 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001810565963[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001686353639 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001686353639[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002585039553 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002585039553[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997768596 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997768596[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001374079778 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001374079778[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002838017536 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002838017536[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003143561344 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003143561344[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000012492515682 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000012492515682[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003082823798 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003082823798[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003536394427 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003536394427[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000382182493 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000382182493[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003719075244 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003719075244[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002611884661 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002611884661[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009990372862 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000009990372862[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003196512118 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003196512118[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002397069404 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002397069404[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011802180068 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011802180068[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003290695176 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003290695176[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292171642 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292171642[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002067508337 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002067508337[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000575689696 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000575689696[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001884496733 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001884496733[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001939602954 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001939602954[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000886649773 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000886649773[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002432903150 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002432903150[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000569869894 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000569869894[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001280163766 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001280163766[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002113807306 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002113807306[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002654221709 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002654221709[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152819914 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152819914[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002525899198 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002525899198[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002811529187 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002811529187[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000556548103 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000556548103[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003184664968 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003184664968[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001289795656 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001289795656[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724338916 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724338916[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000983798925 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000983798925[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000557975084 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000557975084[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001391127848 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001391127848[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001126698701 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001126698701[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000555482590 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000555482590[0m ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400035 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400035 ms (missed cycles : 3).[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001659702289 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001659702289[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000649929497 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000649929497[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001610282155 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001610282155[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001220972931 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001220972931[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000702667399 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000702667399[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000767173884 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000767173884[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001111300553 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001111300553[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000989055884 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000989055884[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000853334995 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000853334995[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001411528656 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001411528656[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000483180201 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000483180201[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000764029967 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000764029967[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001038303357 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001038303357[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000434338074 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000434338074[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001630076015 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001630076015[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968537730 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968537730[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474066083 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001474066083[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000441252409 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000441252409[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001392061584 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001392061584[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000952482497 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000952482497[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005644604866 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000005644604866[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000787853304 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000787853304[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000661702035 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000661702035[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000804709742 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000804709742[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001114017584 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001114017584[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001018832520 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001018832520[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561665144 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000561665144[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000337338990 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000337338990[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997208626 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000997208626[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000616998280 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000616998280[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488729740 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488729740[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707298030 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707298030[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001086994550 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001086994550[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000518297407 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000518297407[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000629860670 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000629860670[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000962272079 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000962272079[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001428623790 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001428623790[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000170435245 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000170435245[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001271379835 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001271379835[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000766033145 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000766033145[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000493379837 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000493379837[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000529512214 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000529512214[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716644642 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716644642[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000326992278 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000326992278[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001078341200 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001078341200[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000712089806 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000712089806[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000479435418 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000479435418[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000453794914 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000453794914[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000706236747 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000706236747[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000611092395 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000611092395[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000347506176 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000347506176[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200402379 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200402379[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001216967405 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001216967405[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000847900236 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000847900236[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000550711967 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000550711967[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000272484275 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000272484275[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000882093916 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 3175.278 us (Expected < 1666.667 us) --> Read time : 2539.994 us, Update time : 98.152 us, Write time : 537.132 us + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000882093916[0m ×2 + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3175.278 us (Expected < 1666.667 us) --> Read time : 2539.994 us, Update time : 98.152 us, Write time : 537.132 us[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000858179908 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000858179908[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000640662883 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000640662883[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003173384864 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003173384864[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000861629684 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000861629684[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000417991614 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000417991614[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388208684 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388208684[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279883390 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000279883390[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001088260670 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001088260670[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328107222 + 1.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000328107222[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000713553884 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000713553884[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000302935272 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000302935272[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438012661 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438012661[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003235471392 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003235471392[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000911785540 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000911785540[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525050872 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525050872[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000383111339 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000383111339[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000163445553 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000163445553[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573094997 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573094997[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000566561743 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000566561743[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000407496032 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000407496032[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000380282198 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000380282198[0m ×2 + 1.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476682909 + 1.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476682909[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236127163 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000236127163[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337948621 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337948621[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168732418 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168732418[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000809970271 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000809970271[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002892175234 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002892175234[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000425208849 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000425208849[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616273566 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000616273566[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000208525507 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000208525507[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000442837486 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000442837486[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000613313034 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000613313034[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004025554604 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004025554604[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237909470 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237909470[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000645795925 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000645795925[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003411787662 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003411787662[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000383140513 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000383140513[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000562731090 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000562731090[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000352719806 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000352719806[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387279160 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387279160[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000546026629 + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000546026629[0m ×2 + 1.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317771063 + 1.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000317771063[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176137 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176137 ms (missed cycles : 2).[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000353305817 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000353305817[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000401589575 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000401589575[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001366118141 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001366118141[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292881678 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000292881678[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001873508887 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001873508887[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000243851932 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000243851932[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286096893 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000286096893[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281333200 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281333200[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000215817273 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000215817273[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156098014 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156098014[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000358467828 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000358467828[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221994815 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000221994815[0m ×2 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002008970381 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002008970381[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000545993749 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000545993749[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001258199065 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001258199065[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184919889 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184919889[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337092031 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000337092031[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001677494358 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001677494358[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000402267304 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000402267304[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000243915358 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000243915358[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001589411618 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001589411618[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000256843486 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000256843486[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193101412 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000193101412[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001690655479 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001690655479[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000289257261 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000289257261[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267833695 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267833695[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000260972933 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000260972933[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163327925 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000163327925[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159550400 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000159550400[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000359735254 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000359735254[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000128936461 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000128936461[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268940637 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268940637[0m ×2 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002570522763 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002570522763[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180374745 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000180374745[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000242428457 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000242428457[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152957150 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152957150[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266020306 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266020306[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000232410879 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000232410879[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001362652111 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001362652111[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267425034 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001267425034[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000197414539 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000197414539[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102479554 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102479554[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000205785771 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000205785771[0m ×2 + 2.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000186651276 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000186651276[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001295577323 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001295577323[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200141998 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200141998[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001320961213 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001320961213[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000853832495 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000853832495[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000360293951 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000360293951[0m ×2 + 2.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000161193217 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000161193217[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001152232131 + 2.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001152232131[0m ×2 + 2.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000223451156 + 2.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000223451156[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001588550468 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001588550468[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001339206877 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001339206877[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167252401 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167252401[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001898162729 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001898162729[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583487676 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583487676[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158844151 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001622015115 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158844151[0m ×2 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001622015115[0m ×2 + 2.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001100732580 + 2.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001100732580[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137584901 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000137584901[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001290605915 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001290605915[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001099224439 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001099224439[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000127002723 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000127002723[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266438480 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001266438480[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001076825892 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001076825892[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001750279733 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001750279733[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001403634826 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001403634826[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000126629422 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000126629422[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158332532 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158332532[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001118686878 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001118686878[0m ×2 + 2.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000922523360 + 2.32sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000922523360[0m ×2 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215191553 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215191553[0m ×2 + 2.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001317425852 + 2.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001317425852[0m ×2 + 2.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692030069 + 2.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692030069[0m ×2 + 2.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000947254890 + 2.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000947254890[0m ×2 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196437619 + 2.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196437619[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000141584372 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000141584372[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692579336 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000692579336[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000560959621 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000560959621[0m ×2 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 4599.409 us (Expected < 1666.667 us) --> Read time : 3943.805 us, Update time : 97.882 us, Write time : 557.722 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 4599.409 us (Expected < 1666.667 us) --> Read time : 3943.805 us, Update time : 97.882 us, Write time : 557.722 us[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369306564 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000369306564[0m ×2 + 2.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000301420274 + 2.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000301420274[0m ×2 + 2.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000847677697 + 2.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000847677697[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000679769561 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000679769561[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000548195224 + 2.49sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000548195224[0m ×2 + 2.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000445142354 + 2.49sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000445142354[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000388244163 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000388244163[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000786009914 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000786009914[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135364284 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001135364284[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000694686251 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000694686251[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000554556445 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000554556445[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000443416507 + 2.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000443416507[0m ×2 + 2.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000354406733 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000354406733[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000283261930 ×2 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000283261930[0m ×4 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000226325461 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000226325461[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000180730509 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000180730509[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000144213957 ×2 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000144213957[0m ×4 + 2.64sINFOjoint_trajectory_controllerAccepted new action goal ×92 + 2.64sINFOros2_control_nodeAccepted new action goal[0m ×184 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720205 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720205 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780607210.68744588 seconds ×3 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.64sWARNcontroller_managerOverrun might occur, Total time : 1921.682 us (Expected < 1666.667 us) --> Read time : 269.216 us, Update time : 703.345 us, Write time : 949.121 us + 3.64sWARNros2_control_nodeOverrun might occur, Total time : 1921.682 us (Expected < 1666.667 us) --> Read time : 269.216 us, Update time : 703.345 us, Write time : 949.121 us[0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733762 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733762 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780607211.29071832 seconds. ×3 + 4.19sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view" + 4.19sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! + 4.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 4.30sINFOros2_control_node[2026-06-04 21:06:51.475] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-06-04 21:06:51.475] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2002.103 us (Expected < 1666.667 us) --> Read time : 201.524 us, Update time : 138.733 us, Write time : 1661.846 us + 4.72sWARNros2_control_nodeOverrun might occur, Total time : 2002.103 us (Expected < 1666.667 us) --> Read time : 201.524 us, Update time : 138.733 us, Write time : 1661.846 us[0m ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050984 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050984 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun might occur, Total time : 2501.984 us (Expected < 1666.667 us) --> Read time : 251.336 us, Update time : 947.490 us, Write time : 1303.158 us + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697145 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun might occur, Total time : 2501.984 us (Expected < 1666.667 us) --> Read time : 251.336 us, Update time : 947.490 us, Write time : 1303.158 us[0m ×2 + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697145 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936526 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936526 ms (missed cycles : 5).[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 1706.317 us (Expected < 1666.667 us) --> Read time : 228.275 us, Update time : 73.032 us, Write time : 1405.010 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 1706.317 us (Expected < 1666.667 us) --> Read time : 228.275 us, Update time : 73.032 us, Write time : 1405.010 us[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 36 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4884.443 us (Expected < 1666.667 us) --> Read time : 290.716 us, Update time : 3984.334 us, Write time : 609.393 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4884.443 us (Expected < 1666.667 us) --> Read time : 290.716 us, Update time : 3984.334 us, Write time : 609.393 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456036 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456036 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 1996.002 us (Expected < 1666.667 us) --> Read time : 332.407 us, Update time : 88.672 us, Write time : 1574.923 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 1996.002 us (Expected < 1666.667 us) --> Read time : 332.407 us, Update time : 88.672 us, Write time : 1574.923 us[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248725 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248725 ms (missed cycles : 3).[0m ×2 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 4811.022 us (Expected < 1666.667 us) --> Read time : 291.236 us, Update time : 3972.295 us, Write time : 547.491 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 4811.022 us (Expected < 1666.667 us) --> Read time : 291.236 us, Update time : 3972.295 us, Write time : 547.491 us[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128002 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780607275.36335826 seconds ×3 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998373 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998373 ms (missed cycles : 2).[0m ×2 + 3.60sWARNcontroller_managerOverrun might occur, Total time : 2301.339 us (Expected < 1666.667 us) --> Read time : 255.205 us, Update time : 75.392 us, Write time : 1970.742 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2301.339 us (Expected < 1666.667 us) --> Read time : 255.205 us, Update time : 75.392 us, Write time : 1970.742 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780607276.17310500 seconds. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-06-04 21:07:56.367] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-06-04 21:07:56.367] [info] Accepted new action goal ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.13sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.13sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 4.13sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.13sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678881 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678881 ms (missed cycles : 4).[0m ×2 + 4.62sWARNcontroller_managerOverrun might occur, Total time : 4511.937 us (Expected < 1666.667 us) --> Read time : 360.538 us, Update time : 98.332 us, Write time : 4053.067 us + 4.62sWARNros2_control_nodeOverrun might occur, Total time : 4511.937 us (Expected < 1666.667 us) --> Read time : 360.538 us, Update time : 98.332 us, Write time : 4053.067 us[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793240 ms (missed cycles : 6). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793240 ms (missed cycles : 6).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 2417.092 us (Expected < 1666.667 us) --> Read time : 173.884 us, Update time : 1808.399 us, Write time : 434.809 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 2417.092 us (Expected < 1666.667 us) --> Read time : 173.884 us, Update time : 1808.399 us, Write time : 434.809 us[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 36 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 36 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 36 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 36 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 36 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 36 warnings · 40 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407220 ms (missed cycles : 4).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 2790.880 us (Expected < 1666.667 us) --> Read time : 309.007 us, Update time : 1867.530 us, Write time : 614.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113731 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 3094.786 us (Expected < 1666.667 us) --> Read time : 278.496 us, Update time : 79.512 us, Write time : 2736.778 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 21:08:04.736] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181560 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us + 2.42sWARNros2_control_nodeOverrun might occur, Total time : 1961.022 us (Expected < 1666.667 us) --> Read time : 1110.464 us, Update time : 76.931 us, Write time : 773.627 us[0m ×2 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933210 ms (missed cycles : 5).[0m ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780607286.33022499 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780607286.98133540 seconds. ×3 + 3.76sWARNcontroller_managerOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.243 us (Expected < 1666.667 us) --> Read time : 254.175 us, Update time : 1284.597 us, Write time : 489.471 us[0m ×2 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-06-04 21:08:07.187] [info] Accepted new action goal ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.01sINFOfoxglove_bridgeRemoving channel 84 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.01sINFOfoxglove_bridgeRemoving channel 77 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022754 ms (missed cycles : 2).[0m ×2 + 4.95sWARNcontroller_managerOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3322.821 us (Expected < 1666.667 us) --> Read time : 182.434 us, Update time : 2678.507 us, Write time : 461.880 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801544 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338192 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 36 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2882.712 us (Expected < 1666.667 us) --> Read time : 273.126 us, Update time : 55.831 us, Write time : 2553.755 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2882.712 us (Expected < 1666.667 us) --> Read time : 273.126 us, Update time : 55.831 us, Write time : 2553.755 us[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686167 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686167 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun might occur, Total time : 1983.402 us (Expected < 1666.667 us) --> Read time : 1552.363 us, Update time : 55.501 us, Write time : 375.538 us + 1.12sWARNros2_control_nodeOverrun might occur, Total time : 1983.402 us (Expected < 1666.667 us) --> Read time : 1552.363 us, Update time : 55.501 us, Write time : 375.538 us[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319920 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319920 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 2211.207 us (Expected < 1666.667 us) --> Read time : 236.305 us, Update time : 71.312 us, Write time : 1903.590 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 2211.207 us (Expected < 1666.667 us) --> Read time : 236.305 us, Update time : 71.312 us, Write time : 1903.590 us[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709025 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709025 ms (missed cycles : 4).[0m ×2 + 3.54sWARNcontroller_managerOverrun might occur, Total time : 1947.271 us (Expected < 1666.667 us) --> Read time : 674.124 us, Update time : 72.032 us, Write time : 1201.115 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 1947.271 us (Expected < 1666.667 us) --> Read time : 674.124 us, Update time : 72.032 us, Write time : 1201.115 us[0m ×2 + 3.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780607297.21169281 seconds ×3 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.69sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151416 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151416 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780607297.77228546 seconds. ×3 + 4.35sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.35sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.52sINFOros2_control_node[2026-06-04 21:08:18.041] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-06-04 21:08:18.041] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000044 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000044 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun might occur, Total time : 3403.222 us (Expected < 1666.667 us) --> Read time : 167.184 us, Update time : 2681.876 us, Write time : 554.162 us + 5.17sWARNros2_control_nodeOverrun might occur, Total time : 3403.222 us (Expected < 1666.667 us) --> Read time : 167.184 us, Update time : 2681.876 us, Write time : 554.162 us[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832924 ms (missed cycles : 6). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.832924 ms (missed cycles : 6).[0m ×2 + 6.28sWARNcontroller_managerOverrun might occur, Total time : 1804.149 us (Expected < 1666.667 us) --> Read time : 224.075 us, Update time : 605.363 us, Write time : 974.711 us + 6.28sWARNros2_control_nodeOverrun might occur, Total time : 1804.149 us (Expected < 1666.667 us) --> Read time : 224.075 us, Update time : 605.363 us, Write time : 974.711 us[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 37 warnings · 27 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1848.609 us (Expected < 1666.667 us) --> Read time : 222.635 us, Update time : 104.182 us, Write time : 1521.792 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1848.609 us (Expected < 1666.667 us) --> Read time : 222.635 us, Update time : 104.182 us, Write time : 1521.792 us[0m ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784704 ms (missed cycles : 5). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784704 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.491082 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.491082 ms (missed cycles : 7).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 5106.109 us (Expected < 1666.667 us) --> Read time : 200.864 us, Update time : 4374.754 us, Write time : 530.491 us + 1.19sWARNros2_control_nodeOverrun might occur, Total time : 5106.109 us (Expected < 1666.667 us) --> Read time : 200.864 us, Update time : 4374.754 us, Write time : 530.491 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673499 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673499 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun might occur, Total time : 11706.481 us (Expected < 1666.667 us) --> Read time : 190.225 us, Update time : 11019.595 us, Write time : 496.661 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 11706.481 us (Expected < 1666.667 us) --> Read time : 190.225 us, Update time : 11019.595 us, Write time : 496.661 us[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780607307.64731407 seconds ×3 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689465 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689465 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 1772.578 us (Expected < 1666.667 us) --> Read time : 772.457 us, Update time : 97.002 us, Write time : 903.119 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 1772.578 us (Expected < 1666.667 us) --> Read time : 772.457 us, Update time : 97.002 us, Write time : 903.119 us[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780607308.25863957 seconds. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-06-04 21:08:28.423] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-06-04 21:08:28.423] [info] Accepted new action goal ×2 + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution" + 3.85sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/preview_solution"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.444069 ms (missed cycles : 7). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.444069 ms (missed cycles : 7).[0m ×2 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 1956.860 us (Expected < 1666.667 us) --> Read time : 215.634 us, Update time : 1249.756 us, Write time : 491.470 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 1956.860 us (Expected < 1666.667 us) --> Read time : 215.634 us, Update time : 1249.756 us, Write time : 491.470 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197343 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197343 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun might occur, Total time : 6646.385 us (Expected < 1666.667 us) --> Read time : 190.683 us, Update time : 159.394 us, Write time : 6296.308 us + 5.79sWARNros2_control_nodeOverrun might occur, Total time : 6646.385 us (Expected < 1666.667 us) --> Read time : 190.683 us, Update time : 159.394 us, Write time : 6296.308 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652955 ms (missed cycles : 3). | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 42 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4).[0m ×2 + 0.84sWARNcontroller_managerOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us + 0.84sWARNros2_control_nodeOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 3.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.15sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 4.75sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.75sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 6.80sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 6.81sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 42 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4).[0m ×2 + 0.84sWARNcontroller_managerOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us + 0.84sWARNros2_control_nodeOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 3.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.15sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 4.75sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.75sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 6.80sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 6.81sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 42 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4).[0m ×2 + 0.84sWARNcontroller_managerOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us + 0.84sWARNros2_control_nodeOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 3.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.15sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 4.75sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.75sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 6.80sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 6.81sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 42 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393663 ms (missed cycles : 4).[0m ×2 + 0.84sWARNcontroller_managerOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us + 0.84sWARNros2_control_nodeOverrun might occur, Total time : 2021.481 us (Expected < 1666.667 us) --> Read time : 1502.080 us, Update time : 67.002 us, Write time : 452.399 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 3.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.15sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.48sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.68sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 4.75sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.75sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 6.80sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 6.81sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292748 ms (missed cycles : 3).[0m ×2 + 0.94sWARNcontroller_managerOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us + 0.95sWARNros2_control_nodeOverrun might occur, Total time : 2538.832 us (Expected < 1666.667 us) --> Read time : 276.696 us, Update time : 1104.272 us, Write time : 1157.864 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103351 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 2084.032 us (Expected < 1666.667 us) --> Read time : 227.205 us, Update time : 1416.048 us, Write time : 440.779 us[0m ×2 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464486 ms (missed cycles : 2).[0m ×2 + 2.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780607318.60885763 seconds ×3 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780607319.16897011 seconds. ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3690.845 us (Expected < 1666.667 us) --> Read time : 239.565 us, Update time : 2810.517 us (Switch time : 2756.625 us (Switch chained mode time : 0.580 us, perform mode change time : 4.110 us, Activation time : 2739.465 us, Deactivation time : 0.330 us)), Write time : 640.763 us[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780607319.25911665 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181984 ms (missed cycles : 3).[0m ×2 + 3.41sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.41sINFOfoxglove_bridgeRemoving channel 85 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 3385.749 us (Expected < 1666.667 us) --> Read time : 251.675 us, Update time : 2616.734 us, Write time : 517.340 us[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780607319.84020448 seconds. ×3 + 3.69sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780607319.86243439 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.343017 ms (missed cycles : 7).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780607320.56269383 seconds. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-04 21:08:40.682] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3366.198 us (Expected < 1666.667 us) --> Read time : 221.875 us, Update time : 2639.943 us, Write time : 504.380 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184245 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us + 5.74sWARNros2_control_nodeOverrun might occur, Total time : 3316.187 us (Expected < 1666.667 us) --> Read time : 268.885 us, Update time : 2487.400 us, Write time : 559.902 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731648 ms (missed cycles : 6).[0m ×2 + 6.92sWARNcontroller_managerOverrun might occur, Total time : 10178.165 us (Expected < 1666.667 us) --> Read time : 296.476 us, Update time : 9286.217 us, Write time : 595.472 us + 6.93sWARNros2_control_nodeOverrun might occur, Total time : 10178.165 us (Expected < 1666.667 us) --> Read time : 296.476 us, Update time : 9286.217 us, Write time : 595.472 us[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 45 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5263.616 us (Expected < 1666.667 us) --> Read time : 154.363 us, Update time : 4372.548 us, Write time : 736.705 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5263.616 us (Expected < 1666.667 us) --> Read time : 154.363 us, Update time : 4372.548 us, Write time : 736.705 us[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418985 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418985 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun might occur, Total time : 1872.618 us (Expected < 1666.667 us) --> Read time : 747.725 us, Update time : 127.063 us, Write time : 997.830 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 1872.618 us (Expected < 1666.667 us) --> Read time : 747.725 us, Update time : 127.063 us, Write time : 997.830 us[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4).[0m ×2 + 3.44sWARNcontroller_managerOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us[0m ×2 + 3.74sINFOros2_control_node[2026-06-04 21:08:50.612] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-06-04 21:08:50.613] [info] Canceling active goal... ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2). + 3.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607330.62339807 seconds ×3 + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607331.22088289 seconds. ×3 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7).[0m ×2 + 4.81sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event" + 4.81sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event"[0m ×2 + 5.32sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 5.32sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607332.21351266 seconds ×3 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3).[0m ×2 + 5.82sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.82sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607332.78029275 seconds. ×3 + 5.90sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.90sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.90sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.90sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607332.78251600 seconds ×3 + 6.32sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.32sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 6.32sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 6.33sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607333.34302068 seconds. ×3 + 6.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607333.34359241 seconds ×3 + 6.57sWARNcontroller_managerOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us + 6.57sWARNros2_control_nodeOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us[0m ×2 + 6.83sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 6.83sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 45 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5263.616 us (Expected < 1666.667 us) --> Read time : 154.363 us, Update time : 4372.548 us, Write time : 736.705 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5263.616 us (Expected < 1666.667 us) --> Read time : 154.363 us, Update time : 4372.548 us, Write time : 736.705 us[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418985 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418985 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun might occur, Total time : 1872.618 us (Expected < 1666.667 us) --> Read time : 747.725 us, Update time : 127.063 us, Write time : 997.830 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 1872.618 us (Expected < 1666.667 us) --> Read time : 747.725 us, Update time : 127.063 us, Write time : 997.830 us[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468578 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 1947.090 us (Expected < 1666.667 us) --> Read time : 176.654 us, Update time : 1212.774 us, Write time : 557.662 us[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516019 ms (missed cycles : 4).[0m ×2 + 3.44sWARNcontroller_managerOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 1772.005 us (Expected < 1666.667 us) --> Read time : 248.665 us, Update time : 533.200 us, Write time : 990.140 us[0m ×2 + 3.74sINFOros2_control_node[2026-06-04 21:08:50.612] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-06-04 21:08:50.613] [info] Canceling active goal... ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2). + 3.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780607330.62339807 seconds ×3 + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318669 ms (missed cycles : 2).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780607331.22088289 seconds. ×3 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 3594.663 us (Expected < 1666.667 us) --> Read time : 184.544 us, Update time : 2918.829 us, Write time : 491.290 us[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.426261 ms (missed cycles : 7).[0m ×2 + 4.81sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event" + 4.81sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/agent_event"[0m ×2 + 5.32sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 5.32sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780607332.21351266 seconds ×3 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 4587.073 us (Expected < 1666.667 us) --> Read time : 354.907 us, Update time : 3519.442 us, Write time : 712.724 us[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961988 ms (missed cycles : 3).[0m ×2 + 5.82sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.82sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780607332.78029275 seconds. ×3 + 5.90sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.90sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.90sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.90sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780607332.78251600 seconds ×3 + 6.32sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 6.32sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg" + 6.32sINFOfoxglove_bridgeRemoving channel 86 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 6.33sINFOfoxglove_bridgeAdvertising new channel 88 for topic "/secret_msg"[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780607333.34302068 seconds. ×3 + 6.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780607333.34359241 seconds ×3 + 6.57sWARNcontroller_managerOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us + 6.57sWARNros2_control_nodeOverrun might occur, Total time : 1968.769 us (Expected < 1666.667 us) --> Read time : 856.607 us, Update time : 75.601 us, Write time : 1036.561 us[0m ×2 + 6.83sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String) + 6.83sINFOfoxglove_bridgeRemoving channel 88 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906446 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.1s | 55 warnings · 657 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-04-21-03-05-747799-54504baa2ac7-9683 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.54sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.56sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.58sINFOcontroller_managerupdate rate is 600 Hz + 1.58sINFOcontroller_managerOverruns handling is : enabled + 1.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.58sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527984 ms (missed cycles : 3). + 1.66sINFOros2_control_node-1process started with pid [9730] ×2 + 1.66sINFOmove_group-9process started with pid [9756] ×2 + 1.66sINFOparameter_manager_node-10process started with pid [9757] ×2 + 1.66sINFOwaypoint_manager_node-11process started with pid [9758] ×2 + 1.66sINFOmove_joint_resampler_node-12process started with pid [9759] ×2 + 1.66sINFOmove_end_effector_resampler_node-13process started with pid [9760] ×2 + 1.66sINFOobjective_server_node_main-14process started with pid [9761] ×2 + 1.66sINFOcomponent_container_mt-15process started with pid [9762] ×2 + 1.66sINFOexecute_objective_bridge-16process started with pid [9763] ×2 + 1.66sINFOui_teleop_bridge-17process started with pid [9764] ×2 + 1.66sINFOfoxglove_bridge-18process started with pid [9765] ×2 + 1.66sINFOtf2_web_republisher_node-19process started with pid [9766] ×2 + 1.66sINFOweb_video_server-20process started with pid [9885] ×2 + 1.66sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9731] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9732] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9733] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9734] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9738] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9740] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9741] ×2 + 1.68sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.68sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.68sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.68sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.68sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.68sWARNros2_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 + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527984 ms (missed cycles : 3).[0m ×2 + 1.70sINFOcontroller_managerReceived robot description from topic. + 1.70sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.70sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.70sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.72sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.73sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.76sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.88sINFOfoxglove_bridgeServer listening on port 3201 + 1.88sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 1.95sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 1.95sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.96sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.96sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 1.96sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.96sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.97sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 1.97sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 1.97sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 1.97sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 1.98sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 1.98sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 1.98sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 1.98sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 1.98sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 1.98sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.99sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 1.99sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 1.99sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 1.99sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 1.99sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.99sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 2.00sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 2.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 2.00sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 2.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.14sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.14sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.64sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.64sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.64sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.64sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/robot_description_semantic" + 2.65sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/joint_states" + 2.65sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.66sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/robot_description_semantic"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/joint_states"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716522 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716522 ms (missed cycles : 2).[0m ×2 + 2.94sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.96sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.96sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.96sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.96sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.97sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.34sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene_world" + 3.34sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene_world"[0m ×2 + 3.36sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/planning_scene" + 3.36sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/planning_scene"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 3.37sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 3.37sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 3.37sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 3.37sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 4.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.22sINFOobjective_server_node[2026-06-04 21:03:10.710] [moveit_pro_license] [info] ×2 + 4.22sINFOobjective_server_node************************************************* ×4 + 4.22sINFOobjective_server_node* MoveIt Pro License ×2 + 4.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.39sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.39sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.39sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.39sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.39sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.39sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.39sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.39sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.39sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.39sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.39sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.39sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.39sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.48sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.48sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 4.48sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 4.50sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color" + 4.50sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/wrist_camera/color"[0m ×2 + 4.50sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/statistics" + 4.50sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/color" + 4.50sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/statistics"[0m ×2 + 4.50sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 4.50sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/scene_camera/color"[0m ×2 + 4.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 4.50sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.50sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 4.50sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 4.50sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 4.50sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.50sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.50sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 4.50sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 4.50sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 4.50sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/camera_info" + 4.50sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/depth" + 4.50sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/scene_camera/camera_info"[0m ×2 + 4.50sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/depth"[0m ×2 + 4.51sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/joint_state_broadcaster/transition_event" + 4.51sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 4.51sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector" + 4.51sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector"[0m ×2 + 4.51sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points" + 4.51sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points"[0m ×2 + 4.51sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.51sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/description" + 4.51sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/points" + 4.51sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info" + 4.51sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/depth" + 4.51sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/description"[0m ×2 + 4.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.51sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/wrist_camera/points"[0m ×2 + 4.51sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/wrist_camera/camera_info"[0m ×2 + 4.51sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/wrist_camera/depth"[0m ×2 + 4.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.52sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 4.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 4.60sINFOobjective_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 + 4.60sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.62sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.62sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.62sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.62sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.62sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.62sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.62sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.62sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 4.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 4.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9733] ×2 + 4.89sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 4.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 4.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.90sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.90sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 4.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383820 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383820 ms (missed cycles : 4).[0m ×2 + 5.00sWARNobjective_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 + 5.20sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.20sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.20sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.20sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.20sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/visual_markers" + 5.20sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/visual_markers"[0m ×2 + 5.20sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/speed_scaling_input" + 5.20sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 5.21sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap" + 5.21sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 5.21sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/controller_state" + 5.21sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 5.21sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/dynamic_joint_states" + 5.21sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/transition_event" + 5.21sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/dynamic_joint_states"[0m ×2 + 5.21sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 5.21sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory" + 5.21sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/blackboard_contents" + 5.21sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 5.21sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/blackboard_contents"[0m ×2 + 5.22sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/behavior_tree_status" + 5.22sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/behavior_tree_status"[0m ×2 + 5.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9734] ×2 + 5.35sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 5.35sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 5.40sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 5.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 5.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.40sINFOros2_control_node[2026-06-04 21:03:11.887] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.40sINFOros2_control_node[2026-06-04 21:03:11.887] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 2300.287 us (Expected < 1666.667 us) --> Read time : 303.356 us, Update time : 1411.949 us, Write time : 584.982 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 2300.287 us (Expected < 1666.667 us) --> Read time : 303.356 us, Update time : 1411.949 us, Write time : 584.982 us[0m ×2 + 5.43sINFOros2_control_node[2026-06-04 21:03:11.920] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.43sINFOros2_control_node[2026-06-04 21:03:11.920] [info] Controller state will be published at 50 Hz. ×2 + 5.44sINFOros2_control_node[2026-06-04 21:03:11.927] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.48sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.53sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.53sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.60sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.60sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.60sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.60sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.60sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.60sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.71sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.76sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.77sINFOmove_group ×4 + 5.77sINFOmove_group[92mYou can start planning now![0m ×2 + 5.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9738] ×2 + 5.82sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event" + 5.82sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/transition_event" + 5.82sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state" + 5.82sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/trajectory_execution_event"[0m ×2 + 5.82sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 5.82sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 5.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 5.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 5.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 5.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 5.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.92sINFOros2_control_node[2026-06-04 21:03:12.410] [info] Controller state will be published at 20 Hz. ×2 + 5.92sINFOros2_control_node[2026-06-04 21:03:12.411] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.23sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.23sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.23sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 6.23sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 6.24sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.25sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9741] ×2 + 6.28sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 6.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 6.28sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.28sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.28sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.28sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us[0m ×2 + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3).[0m ×2 + 6.29sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 6.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 6.43sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 6.43sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event" + 6.43sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 6.43sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 6.43sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state" + 6.43sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 6.43sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 6.43sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 6.58sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.59sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.59sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.59sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 6.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 6.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9732] ×2 + 6.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 6.64sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 6.64sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 6.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 6.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.65sINFOforce_torque_sensor_broadcasterconfigure successful + 6.65sINFOros2_control_nodeconfigure successful[0m ×2 + 6.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.66sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 6.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 6.98sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 6.98sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event" + 6.98sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench" + 6.98sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 6.98sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 6.98sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 6.98sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9731] ×2 + 6.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 7.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780606993.80481267 seconds. ×3 + 7.32sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 7.32sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 7.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780606993.81528091 seconds ×3 + 7.34sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 7.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 7.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.38sINFOros2_control_node[2026-06-04 21:03:13.863] [info] Controller state will be published at 10 Hz. ×2 + 7.38sINFOros2_control_node[2026-06-04 21:03:13.864] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2).[0m ×2 + 7.52sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 7.52sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 7.52sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 7.52sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 7.52sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 7.52sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 7.52sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 7.53sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 7.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9740] ×2 + 7.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780606994.37121987 seconds. ×3 + 7.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.07sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 8.08sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 8.27sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 8.27sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 9.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 9.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 9.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 9.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 10.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 10.45sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 10.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 11.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 11.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 45 warnings · 117 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 4.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.52sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 4.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 5.13sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 5.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.29sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 6.32sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 7.38sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 42 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2).[0m ×2 + 0.04sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 0.04sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.04sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 0.04sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 0.04sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 0.04sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9740] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780606994.37121987 seconds. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.60sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.60sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.79sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 1.92sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 1.92sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 5.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.11sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 5.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.12sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.89sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 6.93sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 196 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-04-21-03-05-747799-54504baa2ac7-9683 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.54sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.56sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.58sINFOcontroller_managerupdate rate is 600 Hz + 1.58sINFOcontroller_managerOverruns handling is : enabled + 1.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.58sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527984 ms (missed cycles : 3). + 1.66sINFOros2_control_node-1process started with pid [9730] ×2 + 1.66sINFOmove_group-9process started with pid [9756] ×2 + 1.66sINFOparameter_manager_node-10process started with pid [9757] ×2 + 1.66sINFOwaypoint_manager_node-11process started with pid [9758] ×2 + 1.66sINFOmove_joint_resampler_node-12process started with pid [9759] ×2 + 1.66sINFOmove_end_effector_resampler_node-13process started with pid [9760] ×2 + 1.66sINFOobjective_server_node_main-14process started with pid [9761] ×2 + 1.66sINFOcomponent_container_mt-15process started with pid [9762] ×2 + 1.66sINFOexecute_objective_bridge-16process started with pid [9763] ×2 + 1.66sINFOui_teleop_bridge-17process started with pid [9764] ×2 + 1.66sINFOfoxglove_bridge-18process started with pid [9765] ×2 + 1.66sINFOtf2_web_republisher_node-19process started with pid [9766] ×2 + 1.66sINFOweb_video_server-20process started with pid [9885] ×2 + 1.66sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9731] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9732] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9733] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9734] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9738] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9740] ×2 + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9741] ×2 + 1.68sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.68sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.68sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.68sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.68sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.68sWARNros2_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 + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527984 ms (missed cycles : 3).[0m ×2 + 1.70sINFOcontroller_managerReceived robot description from topic. + 1.70sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.70sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.70sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.72sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.73sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.75sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.76sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.88sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.88sINFOfoxglove_bridgeServer listening on port 3201 + 1.88sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state" + 1.95sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 1.95sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint" + 1.95sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 1.96sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat" + 1.96sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/objective_server_heartbeat"[0m ×2 + 1.96sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector" + 1.96sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 1.97sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values" + 1.97sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/controller_manager/statistics/values"[0m ×2 + 1.97sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full" + 1.97sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/controller_manager/statistics/full"[0m ×2 + 1.98sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf" + 1.98sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/tf"[0m ×2 + 1.98sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics" + 1.98sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values" + 1.98sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/diagnostics"[0m ×2 + 1.98sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/controller_manager/introspection_data/values"[0m ×2 + 1.99sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description" + 1.99sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names" + 1.99sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full" + 1.99sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/robot_description"[0m ×2 + 1.99sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/names"[0m ×2 + 1.99sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/controller_manager/introspection_data/full"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity" + 2.00sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/activity"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names" + 2.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint" + 2.00sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static" + 2.00sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/statistics/names"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/agent_interface/move_joint"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/tf_static"[0m ×2 + 2.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout" + 2.00sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/rosout"[0m ×2 + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events" + 2.01sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/parameter_events"[0m ×2 + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector" + 2.01sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/agent_interface/move_end_effector"[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.14sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.14sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.64sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.64sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.64sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.64sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/robot_description_semantic" + 2.65sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/joint_states" + 2.65sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.66sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/robot_description_semantic"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/joint_states"[0m ×2 + 2.66sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716522 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716522 ms (missed cycles : 2).[0m ×2 + 2.94sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.96sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.96sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.96sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.96sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.97sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 39 warnings · 236 info |
+ 0.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-06-04 21:03:12.410] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-06-04 21:03:12.411] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.34sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9741] ×2 + 0.39sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us[0m ×2 + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3).[0m ×2 + 0.40sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state" + 0.54sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 0.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 0.69sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.70sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.70sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9732] ×2 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOforce_torque_sensor_broadcasterconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.77sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench" + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 1.09sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9731] ×2 + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780606993.80481267 seconds. ×3 + 1.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 1.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780606993.81528091 seconds ×3 + 1.45sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.49sINFOros2_control_node[2026-06-04 21:03:13.863] [info] Controller state will be published at 10 Hz. ×2 + 1.49sINFOros2_control_node[2026-06-04 21:03:13.864] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2).[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 1.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9740] ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780606994.37121987 seconds. ×3 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.18sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 6.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 6.06sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 6.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.68sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.68sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 6.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 39 warnings · 236 info |
+ 0.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-06-04 21:03:12.410] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-06-04 21:03:12.411] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.34sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9741] ×2 + 0.39sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us[0m ×2 + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3).[0m ×2 + 0.40sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state" + 0.54sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 0.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 0.69sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.70sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.70sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9732] ×2 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOforce_torque_sensor_broadcasterconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.77sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench" + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 1.09sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9731] ×2 + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780606993.80481267 seconds. ×3 + 1.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 1.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780606993.81528091 seconds ×3 + 1.45sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.49sINFOros2_control_node[2026-06-04 21:03:13.863] [info] Controller state will be published at 10 Hz. ×2 + 1.49sINFOros2_control_node[2026-06-04 21:03:13.864] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2).[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 1.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9740] ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780606994.37121987 seconds. ×3 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.18sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 6.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 6.06sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 6.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.68sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.68sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 6.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 39 warnings · 236 info |
+ 0.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.03sINFOros2_control_node[2026-06-04 21:03:12.410] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-06-04 21:03:12.411] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.34sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9741] ×2 + 0.39sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 4259.407 us (Expected < 1666.667 us) --> Read time : 296.206 us, Update time : 3414.610 us (Switch time : 3338.448 us (Switch chained mode time : 0.550 us, perform mode change time : 3.150 us, Activation time : 3324.868 us, Deactivation time : 0.550 us)), Write time : 548.591 us[0m ×2 + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513431 ms (missed cycles : 3).[0m ×2 + 0.40sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event" + 0.54sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state" + 0.54sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command" + 0.54sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.54sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_velocity_controller/command"[0m ×2 + 0.69sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.70sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.70sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.70sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 0.70sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 0.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9732] ×2 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.75sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOforce_torque_sensor_broadcasterconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.77sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench" + 1.09sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 1.09sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 1.09sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9731] ×2 + 1.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780606993.80481267 seconds. ×3 + 1.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx + 1.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bkp1wwem --params-file /tmp/launch_params_zdaxofvs --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uyesoe8q --params-file /tmp/launch_params_fnldbjqx [0m ×2 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780606993.81528091 seconds ×3 + 1.45sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.49sINFOros2_control_node[2026-06-04 21:03:13.863] [info] Controller state will be published at 10 Hz. ×2 + 1.49sINFOros2_control_node[2026-06-04 21:03:13.864] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2).[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 1.63sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.63sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.63sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9740] ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780606994.37121987 seconds. ×3 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.18sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.18sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 6.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 6.06sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 6.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.68sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.68sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 6.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 42 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813449 ms (missed cycles : 2).[0m ×2 + 0.04sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 0.04sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.04sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 0.04sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 0.04sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 0.04sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.05sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9740] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780606994.37121987 seconds. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.60sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.60sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.79sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 0.80sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 1.92sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 1.92sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 5.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.11sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 5.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.12sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.89sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 6.93sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 39 warnings · 114 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 1737.355 us (Expected < 1666.667 us) --> Read time : 294.916 us, Update time : 102.032 us, Write time : 1340.407 us[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 1.32sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 3.87sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 4.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.52sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 4.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 5.13sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 5.14sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 5.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.29sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 6.32sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 6.34sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.1s | 42 warnings · 117 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 42 warnings · 125 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.88sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.90sINFOros2_control_node[2026-06-04 21:03:22.391] [info] Received new action goal ×2 + 6.90sINFOros2_control_node[2026-06-04 21:03:22.391] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780606995.49136567 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.899675 ms (missed cycles : 8).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 7537.064 us (Expected < 1666.667 us) --> Read time : 191.054 us, Update time : 6797.319 us, Write time : 548.691 us[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780606996.07958150 seconds. ×3 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865351 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 1898.218 us (Expected < 1666.667 us) --> Read time : 859.167 us, Update time : 102.152 us, Write time : 936.899 us[0m ×2 + 1.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780606997.08974648 seconds ×3 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780606997.64981079 seconds. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780606997.66996193 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616101 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780606998.22855616 seconds. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780606998.37920737 seconds ×3 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 1940.870 us (Expected < 1666.667 us) --> Read time : 270.186 us, Update time : 86.682 us, Write time : 1584.002 us[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.726371 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780606999.04349470 seconds. ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3820.408 us (Expected < 1666.667 us) --> Read time : 261.475 us, Update time : 3056.413 us (Switch time : 3001.522 us (Switch chained mode time : 0.460 us, perform mode change time : 2.200 us, Activation time : 2993.511 us, Deactivation time : 0.310 us)), Write time : 502.520 us[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780606999.09525084 seconds ×3 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 6607.885 us (Expected < 1666.667 us) --> Read time : 331.537 us, Update time : 5707.716 us, Write time : 568.632 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780606999.72476220 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909931 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.861e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-04 21:03:19.855] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811600 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us + 5.39sWARNros2_control_nodeOverrun might occur, Total time : 2870.458 us (Expected < 1666.667 us) --> Read time : 293.176 us, Update time : 97.772 us, Write time : 2479.510 us[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.54% of iterations over budget over 0:10.002 of wall time (17/3166). Below 1% is expected on a non-realtime system.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938904 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 2002.101 us (Expected < 1666.667 us) --> Read time : 162.894 us, Update time : 420.538 us, Write time : 1418.669 us[0m ×2 | ||||